The experimental performance of a mobile manipulator control algorithm

Results of an experimental study of a motion control algorithm for mobile manipulators are presented. The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. The mobile manipulator control algorithm, which accounts for dynamic vehicle motions caused by manipulator motions, is shown to be stable and to perform well, while using only limited sensory data, such as would be practically available in highly unstructured field environments.<<ETX>>

[1]  Steven Dubowsky,et al.  On the nature of control algorithms for space manipulators , 1990, Proceedings., IEEE International Conference on Robotics and Automation.

[2]  Steven Dubowsky,et al.  Planning mobile manipulator motions considering vehicle dynamic stability constraints , 1989, Proceedings, 1989 International Conference on Robotics and Automation.

[3]  Oussama Khatib,et al.  A unified approach for motion and force control of robot manipulators: The operational space formulation , 1987, IEEE J. Robotics Autom..

[4]  Neville Hogan,et al.  The macro/micro manipulator : an improved architecture for robot control , 1993 .

[5]  Steven D. Eppinger.  Modeling Robot Dynamic Performance for Endpoint Force Control , 1988 .

[6]  Steven Dubowsky,et al.  Large motion control of mobile manipulators including vehicle suspension characteristics , 1991, Proceedings. 1991 IEEE International Conference on Robotics and Automation.

[7]  Steven Dubowsky,et al.  Experimental Simulation of Manipulator Base Compliance , 1989, ISER.

[8]  R. H. Cannon,et al.  Experiments in advanced control concepts for space robotics - An overview of the Stanford Aerospace Robotics Laboratory , 1987 .

[9]  W. Gevarter.  Basic relations for control of flexible vehicles , 1969 .

[10]  Steven Dubowsky,et al.  A study of the dynamics and control of mobile manipulators subjected to vehicle disturbances , 1988 .

[11]  John T. Wen,et al.  Simulation of cooperating robot manipulators on a mobile platform , 1990, Proceedings., IEEE International Conference on Robotics and Automation.