2011 Volume 4 Issue 4 Pages 305-314
Mobile manipulators are expected to play an important role in production processes of factories and in medical care systems of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track both the desired position trajectory and force trajectory. Therefore the authors have proposed two adaptive hybrid position/force control schemes for mobile manipulators. In this paper we implement these control schemes in an actual mobile manipulator and demonstrate the effectiveness of these proposed control schemes experimentally.