Title :
Pushing operation by two-wheel inverted mobile manipulator
Author :
Sasaki, Koji ; Murakami, Toshiyuki
Author_Institution :
Dept. of Syst. Design Eng., Keio Univ., Kanagawa
Abstract :
Two-wheel inverted mobile manipulator does not have casters, which avoid the platform of a mobile robot inclining but have complicated dynamical characteristics. Therefore, this mobile manipulator can realize rapid and smooth motion, but in exchange some control is needed to avoid its platform inclining. Rotating platform is considered as a passive joint, which is not actuated. When robot perform a task in contact with environment, reaction force in end-effector acts on passive joint and platform is made inclining. This paper propose a control method for pushing operation by two-wheel inverted mobile manipulator.
Keywords :
end effectors; mobile robots; end-effector reaction force; mobile robot; pushing operation; two-wheel inverted mobile manipulator; Automatic control; Design engineering; Force control; Kinematics; Manipulator dynamics; Mobile robots; Motion control; Production facilities; Robotics and automation; Systems engineering and theory;
Conference_Titel :
Advanced Motion Control, 2008. AMC '08. 10th IEEE International Workshop on
Conference_Location :
Trento
Print_ISBN :
978-1-4244-1702-5
Electronic_ISBN :
978-1-4244-1703-2
DOI :
10.1109/AMC.2008.4516037
