Motion control of omnidirectional mobile manipulator for indoor environment

Motion control of omnidirectional mobile manipulator for indoor environment
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室内环境全向移动机械手运动控制

DOI：
10.1109/roman.2001.981915
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发表时间：
2001
期刊：
Proceedings 10th IEEE International Workshop on Robot and Human Interactive Communication. ROMAN 2001 (Cat. No.01TH8591)
影响因子：
--
通讯作者：
T. Kotoku
T. Kotoku
中科院分区：
--
文献类型：
--
作者：
K. Komoriya;K. Yokoi;T. Kotoku

文献摘要

被引文献

相似文献

移动机械手将成为我们日常生活环境中的实用机器人。为了使机器人适应环境，必须具有移动基座的全方位移动功能和姿态稳定功能。本文介绍了全向移动机构的结构及其控制运动学。报道了一种用于姿态稳定的实时反力传感器的实现及其基本实验结果。
A mobile manipulator will be a practical robot in our daily life environment. In order for the robot to fit the environment, an omnidirectional mobile function and posture stabilization function of the mobile base should be necessary. In this paper the construction of omnidirectional mobile mechanism and its kinematics for the control are described. The implementation of a real-time reaction force sensor for the posture stabilization and its basic experimental results are reported.