SICE Journal of Control, Measurement, and System Integration
Online ISSN : 1884-9970
Print ISSN : 1882-4889
CONTRIBUTED PAPERS
Robust Adaptive Position/Force Control of Mobile Manipulators: Theory and Experiments
Tatsuo NARIKIYOMichihiro KAWANISHITomohito MIZUNOYasuo HANADA
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2011 Volume 4 Issue 4 Pages 305-314

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Abstract

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.

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© 2011 The Society of Instrument and Control Engineers
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