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 language | English |
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| Title of host publication | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
| Pages | 86-91 |
| Number of pages | 6 |
| DOIs | |
| Publication status | Published - 1 Dec 2009 |
| Externally published | Yes |
| Event | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 - Guilin, China Duration: 19 Dec 2009 → 23 Dec 2009 |
Conference
| Conference | 2009 IEEE International Conference on Robotics and Biomimetics, ROBIO 2009 |
|---|---|
| Country/Territory | China |
| City | Guilin |
| Period | 19/12/09 → 23/12/09 |
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