Modeling and compensation of the dynamic interaction of a mobile manipulator
- 17 December 2002
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 2187-2192vol.3
- https://doi.org/10.1109/robot.1994.350960
Abstract
A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a fixed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred configuration. In this paper, we study the effect of the dynamic interaction between the manipulator and the mobile platform of a mobile manipulator on the task performance. We consider the task that the end point of the manipulator tracks a desired trajectory in a fixed reference frame. The effect of the dynamic interaction on the tracking performance is examined by comparing four different cases: (1) without any compensation of the dynamic interaction at all; (2) with the mobile platform compensating the dynamic interaction caused by the manipulator; (3) with the manipulator compensating the dynamic interaction caused by the mobile platform; and (4) with full compensation of the dynamic interaction with each otherKeywords
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