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JRM Vol.9 No.4 pp. 262-266
doi: 10.20965/jrm.1997.p0262
(1997)

Paper:

Control Strategy for Mobile Manipulators

Hisashi Osumi and Eisuke Konishi

Faculty of Science and Engineering, Chuo University, Kasuga Bunkyo-ku, Tokyo, 112, Japan

Received:
April 9, 1997
Accepted:
May 9, 1997
Published:
August 20, 1997
Keywords:
Mobile manipulator, Wheel mechanism, Mobile platform, Redundant manipulator, Non-holonomic constraint
Abstract

Control strategies for mobile manipulators consisting of a serial link manipulator and a 2DW type platform are reviewed. Since a mobile manipulator has kinematic redundancy and non-holonomic constraints, these two characteristics must be considered in designing controllers. First, the relationship between a target trajectory and a motion command for the mobile manipulator is formulated. Based on the formulation, the characteristics of the least square norm solution for moving a mobile manipulator along a target trajectory is analyzed by a simple simulation. Second, some performance indices for exploiting kinematic redundancy to improve mobility or manipulability of the mobile manipulator are introduced.

Cite this article as:
Hisashi Osumi and Eisuke Konishi, “Control Strategy for Mobile Manipulators,” J. Robot. Mechatron., Vol.9, No.4, pp. 262-266, 1997.
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