Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)
- 2000.07d
- /
- Pages.2735-2737
- /
- 2000
Mobility Analysis and Flexible Motion Control of Mobile Manipulator System
이동 매니퓰레이터 시스템의 운동성 해석과 유연한 동작 제어
- Lim, Mee-Seub (Intelligent System Control Research Center, KIST) ;
-
Oh, Sang-Rok
(Intelligent System Control Research Center, KIST)
;
- Kim, Kwang-Bae (Intelligent System Control Research Center, KIST) ;
-
Yi, Byung-Ju
(Div. of Elec. Computer Hanyang Univ.)
;
- Lim, Joon-Hong (Div. of Elec. Computer Hanyang Univ.)
- 임미섭 (한국과학기술연구원 지능제어연구센터) ;
-
오상록
(한국과학기술연구원 지능제어연구센터)
;
- 김광배 (한국과학기술연구원 지능제어연구센터) ;
-
이병주
(한양대 전자컴퓨터공학부)
;
- 임준홍 (한양대 전자컴퓨터공학부)
- Published : 2000.07.17
Abstract
In this paper, we deal with modeling and analysis for mobile manipulator systems. In order to avoid the difficulties occurring due to slippage or unevenness of the terrain, we propose the utilization of minimum actuators. In this case, the resulting systems typically possess kinematic redundancies which can be beneficially employed for correcting the position error. A simple PD control method along with kinematic redundancy is employed to recover position errors for trajectory control in task space. Several primary and secondary criteria utilizing kinematic redundancy of the mobile manipulator system are tested through graphic animation.
Keywords