Title :
Large motion control of mobile manipulators including vehicle suspension characteristics
Author :
Hootsmans, Norbert A M ; Dubowsky, Steven
Author_Institution :
Dept. of Mech. Eng., MIT, Cambridge, MA, USA
Abstract :
Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended Jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modeling errors and the practical limitations imposed by the sensory information available for control in highly unstructured field environments
Keywords :
control system analysis; mobile robots; position control; Jacobian transpose control; large motion control; manipulators; mobile robots; modeling errors; unstructured field environments; vehicle suspension characteristics; Control systems; Jacobian matrices; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Prototypes; Robot sensing systems; Tires; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1991. Proceedings., 1991 IEEE International Conference on
Conference_Location :
Sacramento, CA
Print_ISBN :
0-8186-2163-X
DOI :
10.1109/ROBOT.1991.131751
