A motion control of mobile manipulator with external force

IEEE/ASME Transactions on Mechatronics

Volumn 6, Issue 2, 2001, Pages 137-142

  Inoue, Fumiaki ^b   Murakami, Toshiyuki ^a,b   Ohnishi, Kouhei ^a,b  

^a IEEE

^b KEIO UNIVERSITY   (Japan)

Author keywords

Acceleration limit; Disturbance observer; External force; Mobile manipulator; Smooth and stable motion

Indexed keywords

COMPUTER SIMULATION; FORCE CONTROL; MANIPULATORS; MATHEMATICAL MODELS; MOTION CONTROL; OBSERVATORIES;

DISTURBANCE OBSERVER; MOBILE MANIPULATORS;

MOBILE ROBOTS;

EID: 0035365217     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/3516.928727     Document Type: Article

References (4)

1. Stability control for a mobile manipulator using a potential method
2. Impedance control of mobile manipulator with the stability to external force
3. Robust motion control by disturbance observer
4. Modeling and compensation of the dynamic interaction of a mobile mobile manipulator