Large motion control of mobile manipulators including vehicle suspension characteristics

Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended Jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modeling errors and the practical limitations imposed by the sensory information available for control in highly unstructured field environments.<<ETX>>

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