書誌事項
- タイトル別名
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- Rising and Landing Motion Control Using Null Space Control for Coaxial Two-Wheel Driven Mobile Manipulator
- 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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抄録
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.
収録刊行物
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- 電気学会論文誌D(産業応用部門誌)
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電気学会論文誌D(産業応用部門誌) 130 (10), 1161-1168, 2010
一般社団法人 電気学会
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詳細情報 詳細情報について
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- CRID
- 1390001204658046720
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- NII論文ID
- 130000415403
- 40017300415
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- NII書誌ID
- AN10012320
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- ISSN
- 13488163
- 09136339
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- NDL書誌ID
- 10832970
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- 本文言語コード
- ja
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- データソース種別
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- JaLC
- NDL
- Crossref
- CiNii Articles
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- 抄録ライセンスフラグ
- 使用不可