Manipulation of a mobile modular manipulator interacting with the environment with the assistance of tactile sensing feedback

Jingguo Wang, Yangmin Li

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

4 Citations (Scopus)

Abstract

This paper presents a modeling method for a mobile modular manipulator (MMM) interacting with the environment, which is composed of a mobile base and a 5-DOF manipulator. A tactile sensor, which is installed at the tip of the end-effector of the mobile manipulator, is to detect the feedback information from the environment. The dynamic equations are formulated and the controller is proposed with both the redundancy resolution and manipulability measures. The tactile sensing-assisted strategies are proposed and combined into the control algorithm. A real mobile manipulator is built up to contact with the environment in our lab and the results show the effectiveness of the proposed method.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - Third International Conference, ICIRA 2010, Proceedings
Pages214-225
Number of pages12
EditionPART 1
DOIs
Publication statusPublished - 29 Dec 2010
Externally publishedYes
Event3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010 - Shanghai, China
Duration: 10 Nov 201012 Nov 2010

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
NumberPART 1
Volume6424 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349

Conference

Conference3rd International Conference on Intelligent Robotics and Applications, ICIRA 2010
CountryChina
CityShanghai
Period10/11/1012/11/10

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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