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题名: Hybrid force/position control of redundant mobile manipulators
作者: Tan JD(谈金东); Xi N(席宁); Wang YC(王越超)
作者部门: 机器人学研究室
会议名称: 15th World Congress of the International Federation of Automatic Control, 2002
会议日期: July 21-26, 2002
会议地点: Barcelona, Spain
会议录: Proceedings of the 15th IFAC World Congress
会议录出版者: IFAC
会议录出版地: Laxenburg, AUSTRIA
出版日期: 2002
页码: 383-388
收录类别: EI
ISBN号: 0-08-044295-1
摘要: This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task direction is discussed based on the decoupled mathematical model. The force planning is also discussed based on a nonholonomic cart pushing task. The proposed force/position control approach has been implemented and tested on a mobile manipulator consisting of a Nomadic XR4000 and a Puma 560 robot arm. Copyright
语种: 英语
产权排序: 2
内容类型: 会议论文
URI标识: http://ir.sia.cn/handle/173321/17193
Appears in Collections:机器人学研究室_会议论文

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