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Modeling and compensation of the dynamic interaction of a mobile manipulator

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2 Author(s)
Yamamoto, Y. ; GRASP, Pennsylvania Univ., Philadelphia, PA, USA ; Yun, X.

A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a fixed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred configuration. In this paper, we study the effect of the dynamic interaction between the manipulator and the mobile platform of a mobile manipulator on the task performance. We consider the task that the end point of the manipulator tracks a desired trajectory in a fixed reference frame. The effect of the dynamic interaction on the tracking performance is examined by comparing four different cases: (1) without any compensation of the dynamic interaction at all; (2) with the mobile platform compensating the dynamic interaction caused by the manipulator; (3) with the manipulator compensating the dynamic interaction caused by the mobile platform; and (4) with full compensation of the dynamic interaction with each other

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994