Title :
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
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;
Conference_Titel :
SICE Annual Conference (SICE), 2011 Proceedings of
Conference_Location :
Tokyo
Print_ISBN :
978-1-4577-0714-8
