제어로봇시스템학회:학술대회논문집
- 제어로봇시스템학회 2001년도 ICCAS
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- Pages.155.4-155
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- 2001
Inertia Property-Based Redundancy Resolution in Posture Control of Mobile Manipulator
- Kang, Sungchul (KIST) ;
- Komoriya, Kiyoshi (AIST) ;
- Yokoi, Kazuhito (AIST) ;
- Koutoku, Tetsuo (AIST) ;
- Tanie, Kazuo (AIST)
- 발행 : 2001.10.01
초록
This paper deals with the inertia property-based redundancy resolution in posture control of a mobile manipulator. As a measure for the redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. The reduced effective inertia has a significant effect on reducing the impulse force in collision with environment. To find a posture satisfying both the reduced inertia and joint limit constraints, we propose a combined potential function method that can deal with multiple constraints. The proposed reduced inertia property algorithm is integrated into a damping controller to reduce the impulse force at collision and to regulate the contact force in mobile manipulation ...
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