首页>
外文OA文献
>Hybrid force/position control of redundant mobile manipulators
【2h】
Hybrid force/position control of redundant mobile manipulators
展开▼
机译：冗余移动机械手的混合力/位置控制
展开▼
免费
页面导航
摘要
著录项
相似文献
相关主题
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
展开▼
