Title :
Control of mobile manipulators following a moving surface
Author :
Yamamoto, Yoshio ; Yun, Xiaoping
Author_Institution :
Pennsylvania Univ., Philadelphia, PA, USA
Abstract :
A control algorithm for mobile manipulators is presented. The task for the mobile manipulator is to follow a moving surface. The control algorithm is developed based on the concept of a preferred operating region. The nonholonomically constrained mobile platform is controlled to bring the end point of the manipulator into the preferred operating region. The manipulator is force-controlled to keep in contact with the moving surface. The control algorithm is tested on an experimental mobile manipulator built from a TRC LABMATE mobile platform and a PUMA 250 robot manipulator. Experimental results are presented to demonstrate the efficacy of the control algorithm
Keywords :
force control; manipulators; mobile robots; position control; PUMA 250 robot manipulator; TRC LABMATE mobile platform; mobile manipulators; moving surface; nonholonomically constrained mobile platform; preferred operating region; Force control; Laboratories; Manipulator dynamics; Mobile robots; Navigation; Position control; Robot kinematics; Robot sensing systems; Testing; Vehicle dynamics;
Conference_Titel :
Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on
Conference_Location :
Atlanta, GA
Print_ISBN :
0-8186-3450-2
DOI :
10.1109/ROBOT.1993.291930
