Environmental interaction of two wheeled mobile manipulator by using reaction torque observer

被引：0

作者：

Abeygunawardhana, P. K. W. ^{[1
]}

Toshiyuki, Murakami ^{[1
]}

机构：

[1] Keio Univ, Dept Integrated Design Engn, Yokohama, Kanagawa 223, Japan

来源：

AMC '08: 10TH INTERNATIONAL WORKSHOP ON ADVANCED MOTION CONTROL, VOLS 1 AND 2, PROCEEDINGS | 2008年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

There are so many industrial manipulators which involve in lot of task in the industry. Developing the mobile manipulator will expand the operational region of the manipulator. Moreover, two wheeled mobile manipulator will further expand the task of the mobile manipulator by being able to work in limited space and so on. However good mobile manipulator should be robust against environmental disturbance. Therefore, environmental recognition of two wheeled mobile manipulator is proposed in this paper. Reaction torque observer is implemented to recognize the environmental disturbance. Compliance control is used to compensate the environmental feedback. Experiment was carried out to show the effectiveness of the proposed method.

引用

页码：348 / 353

页数：6

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