TY - GEN
T1 - Collision-tolerant control algorithm for mobile manipulator with viscoelastic passive trunk
AU - Lim, Hun Ok
AU - Yokoi, Kazuhito
AU - Huang, Qiang
AU - Oh, Sang Rok
AU - Takanishi, A.
AU - Tanie, K.
N1 - Publisher Copyright:
© 1998 IEEE.
PY - 1998
Y1 - 1998
N2 - We have proposed the collision-tolerant mobile manipulator equipped with a passive trunk (i.e., supporting part). In collision experiments with unknown environments, results show that this mechanism is suitable for the suppression of contact forces which is an important issue for human-robot collaborations. The trunk with mechanical elements such as springs and dampers is passively deformed to deal with physical contacts, while the mobile platform moves around on the horizontal plane in response to friction between the platform and the ground. The end-effector of the manipulator, however, is difficult to track a desired task due to the deformation of the compliant trunk and the mobility of the platform. In order to solve the problem, the desired joint configurations of the manipulator are directly calculated according to the movement of the trunk and the platform, and a feedback control scheme is employed.
AB - We have proposed the collision-tolerant mobile manipulator equipped with a passive trunk (i.e., supporting part). In collision experiments with unknown environments, results show that this mechanism is suitable for the suppression of contact forces which is an important issue for human-robot collaborations. The trunk with mechanical elements such as springs and dampers is passively deformed to deal with physical contacts, while the mobile platform moves around on the horizontal plane in response to friction between the platform and the ground. The end-effector of the manipulator, however, is difficult to track a desired task due to the deformation of the compliant trunk and the mobility of the platform. In order to solve the problem, the desired joint configurations of the manipulator are directly calculated according to the movement of the trunk and the platform, and a feedback control scheme is employed.
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U2 - 10.1109/ROBOT.1998.676242
DO - 10.1109/ROBOT.1998.676242
M3 - Conference contribution
AN - SCOPUS:0031636806
SN - 078034300X
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 13
EP - 20
BT - Proceedings - 1998 IEEE International Conference on Robotics and Automation, ICRA 1998
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 15th IEEE International Conference on Robotics and Automation, ICRA 1998
Y2 - 16 May 1998 through 20 May 1998
ER -