Rising and Landing Motion Control Using Null Space Control for Coaxial Two-Wheel Driven Mobile Manipulator
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- Fujimoto Yusuke
- Keio University
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- Murakami Toshiyuki
- Keio University
Bibliographic Information
- Other Title
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- 同軸二輪駆動型移動マニピュレータにおける零空間制御を用いた起き上がり・着地制御
- ドウジク 2リン クドウガタ イドウ マニピュレータ ニ オケル レイ クウカン セイギョ オ モチイタ オキアガリ チャクチ セイギョ
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Abstract
This paper describes a control scheme for the stable operation of a two-wheel driven mobile manipulator. The manipulator has excellent mobility and manipulability, and is capable of many functions. Therefore, it is very effective for use in human environments. However, since the mobile manipulator is unstable, it is difficult to perform specific tasks such as tasks requiring the precise movement of the manipulator and those that need large power, even if its attitude is controlled. Hence, in this paper, landing motion control is proposed to enable the stable operation of the manipulator. In addition, in order to switch from the landing mode to the moving mode, rising motion control is proposed. The validity of the proposed method was confirmed by experimental results.
Journal
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- IEEJ Transactions on Industry Applications
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IEEJ Transactions on Industry Applications 130 (10), 1161-1168, 2010
The Institute of Electrical Engineers of Japan
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Details 詳細情報について
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- CRID
- 1390001204658046720
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- NII Article ID
- 130000415403
- 40017300415
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- NII Book ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL BIB ID
- 10832970
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- Text Lang
- ja
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- Data Source
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- Abstract License Flag
- Disallowed