Utilization of Inertial Effect in of Mobile Damping-based Posture Control Manipulator

This paper presents the utilization of inertial effect in damping-basedposture controlofa mobile manipulator: As a measure for redundancy resolution ofa mobile manipulator, an eJfective inertia at the endeffector in the operational space isproposedand investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulator. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. Tofindaposturesatisfjing both the reduced inertia andjoint limit constraints, wepropose a combined potential function method which can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision andto regulate the contactforce in mobile manipulation.