Effect of the Dynamic Interaction on Coordinated Control of Mobile Manipulators

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Authors
Yamamoto, Yoshio
Yun, Xiaoping
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Advisors
Date of Issue
1996-10
Date
Publisher
IEEE
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Abstract
A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a fixed-base manipulator due to the mobility provided by the platform. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred configuration. In this paper, we study the effect of the dynamic interaction between the manipulator and the mobile platform of a mobile manipulator on the task performance. We consider the task that the end point of the manipulator tracks a desired trajectory in a fixed reference frame. The effect of the dynamic interaction on the tracking performance is examined by comparing four different cases: 1) with full compensation of the dynamic interaction with each other; 2) with the mobile platform compensating the dynamic interaction caused by the manipulator; 3) with the manipulator compensating the dynamic interaction caused by the mobile platform; and 4) without any compensation of the dynamic interaction at all. Simulation results from representative trajectories are presented to illustrate the effect.
Type
Article
Description
URI
https://hdl.handle.net/10945/62188
Series/Report No
Department
Organization
Naval Postgraduate School (U.S.)
Identifiers
NPS Report Number
Sponsors
NSF
ONR/ARPA
Funder
NSF CDA-92-22732
NSF IRI-92-09880|NSF |IRI-95-96026
ONR/ARPA Grant N00014-92-J-1647
Format
9 p.
Citation
Yamamoto, Yoshio, and Xiaoping Yun. "Effect of the dynamic interaction on coordinated control of mobile manipulators." IEEE Transactions on robotics and automation 12.5 (1996): 816-824.
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This publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.
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