Position Control of a Manipulator on PWS-type Locomotor
Kan Taguchi*, Hiroyuki Handa** and Kazuo Yamafuji**
*Cooperative Research Center,
**Department of Mechanical and Control Engineering, University of Electro-Communications, 1-5-1 Chofugaoka Chofu-shi, Tokyo 182 Japan
In position control of a manipulator on a PWS mobile robot, we used a mobile manipulator as a redundant system on a horizontal plane to obtain a trajectory of Joint angles.