Analysis on the interaction between the nonholonomic mobile modular robot and the environment

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

7 Citations (Scopus)

Abstract

To execute such robotic tasks as behaving interactions with the environment, it is required to control not only the position of a manipulator but also the force exerted at the contact. The paper first presents the dynamic modeling of the mobile modular robot (MMR) which is composed of the mobile platform and the modular manipulator. The mobile robot, having two degrees of freedom(DOF) because of the nonholonomic constraints, is combined with the atop manipulator as a whole body. The controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law via simulations and real experiments and their results show the effectiveness of the proposed method.
Original languageEnglish
Title of host publication2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
Pages86-91
Number of pages6
DOIs
Publication statusPublished - 1 Dec 2009
Externally publishedYes
Event2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China
Duration: 19 Dec 200923 Dec 2009

Conference

Conference2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009
CountryChina
CityGuilin
Period19/12/0923/12/09

Keywords

  • Dynamics control
  • Force-torque sensor
  • Mobile modular robot
  • Nonholonomic constraints
  • Null space
  • Tactile sensor

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Biomaterials

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