Title :
Motion control of omnidirectional mobile manipulator for indoor environment
Author :
KOMORIYA, Kiyoshi ; YOKOI, Kazuhito ; Kotoku, Tetsuo
Author_Institution :
Intelligent Syst. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol., Ibaraki, Japan
Abstract :
A mobile manipulator will be a practical robot in our daily life environment. In order for the robot to fit the environment, an omnidirectional mobile function and posture stabilization function of the mobile base should be necessary. In this paper the construction of omnidirectional mobile mechanism and its kinematics for the control are described. The implementation of a real-time reaction force sensor for the posture stabilization and its basic experimental results are reported
Keywords :
force sensors; manipulator kinematics; mobile robots; motion control; navigation; real-time systems; stability; inverse kinematics; mobile manipulator; motion control; omnidirectional mobile base; posture stabilization; reaction force sensor; real-time systems; Humanoid robots; Indoor environments; Manipulators; Mobile robots; Motion control; Orbital robotics; Robot kinematics; Robot sensing systems; Shape; Wheels;
Conference_Titel :
Robot and Human Interactive Communication, 2001. Proceedings. 10th IEEE International Workshop on
Conference_Location :
Bordeaux, Paris
Print_ISBN :
0-7803-7222-0
DOI :
10.1109/ROMAN.2001.981915
