Moving Base Robotics and Reaction Management Control

This paper addresses a new paradigm of moving base robotics, for a class of robots which have manipulator systems on a moving base. For such robots, kinematic and dynamic coupling between the manipulator arm and the base degrades positioning accuracy and operational dexterity. Moving base robots are classified into the following four categories: (a) Free Floating Manipulator System, (b) Flexible Structure mounted Manipulator System, (c) Macro-Mini Manipulator System, and (d) Mobile Vehicle mounted Manipulator System. Among them, this paper focuses the Flexible Structure mounted Manipulator System, because this class of system displays inherent dynamic coupling between manipulator operation and base structure flexibility, hence control methods to avoid base vibration are strongly needed. A dynamic analysis for reaction management control using the Reaction Null Space is introduced and applied to yield a reactionless operational path for PTP operation. Force control of this class of system is also addressed.

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