Control of Impulsive Contact Force between Mobile Manipulator and Environment Using Effective Mass and Damping Controls

Title
Control of Impulsive Contact Force between Mobile Manipulator and Environment Using Effective Mass and Damping Controls
Authors
강성철KomoriyaYokoiKotoku김병찬박신석
Keywords
Mobile manipulation; Effective inertia; Kinematic Redundancy; Null space motion
Issue Date
2010-10
Publisher
International Journal of Precision Engineering and Manufacturing
Citation
VOL 11, NO 5, 697-704
Abstract
Recently, mobile manipulators are being widely employed for various service robots in human environments. Safety is the most important requirement for the operation of mobile robot in a human-populated environment. Indeed, safe human-machine interaction is one of grand challenges in robotics research. This paper proposes a novel control method to reduce impulsive compact force between a mobile manipulator and its environment by using optimized manipulator inertia and damping-based motion control. To find the optimized configuration through null space motion, the combined potential function method is proposed considering both the minimum effective mass and joint limit constraints. The results of this study show that the inertia optimization along with a damping controller significantly reduces the impulsive force upon collision and the contact force after collision.
URI
http://pubs.kist.re.kr/handle/201004/45593
ISSN
1229-8557
Appears in Collections:
KIST Publication > Article
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