A design scheme of passivity-based position and force control for mobile manipulator

Author

Kawai, Yasunori ; Ooura, Yuuta

Author_Institution

Dept. of Electr. Eng., Ishikawa Nat. Coll. of Technol., Ishikawa, Japan

fYear

2011

fDate

13-18 Sept. 2011

Firstpage

1047

Lastpage

1052

Abstract

This paper considers the passivity-based position and force control for a mobile manipulator. It is assumed that the mobile manipulator is composed of the wheeled mobile vehicle and 2-link manipulator. The kinematics and dynamics model of the wheeled mobile vehicle and 2-link manipulator is considered. The passivity-based control is applied to the wheeled mobile vehicle and 2-link manipulator. It is shown that the stability of the mobile manipulator is guaranteed by using a Lyapunov function. In the simulation, it is indicated that the proposed control law can track the reference trajectories for the unknown external force.

Keywords

Lyapunov methods; control system synthesis; force control; manipulator dynamics; manipulator kinematics; mobile robots; position control; vehicle dynamics; wheels; 2-link manipulator; Lyapunov function; dynamics model; force control; kinematics model; mobile manipulator; passivity-based position control; stability; wheeled mobile vehicle; Force; Manipulator dynamics; Mobile communication; Trajectory; Vehicles; Wheels; force control; mobile manipulator; passivity-based control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE Annual Conference (SICE), 2011 Proceedings of

Conference_Location

Tokyo

ISSN

pending

Print_ISBN

978-1-4577-0714-8

Type

conf

Filename

6060663