Motion control of omni-directional mobile manipulator for indoor environment

被引：3

作者：

Komoriya, K ^{[1
]}

Yokoi, K ^{[1
]}

Kotoku, T ^{[1
]}

机构：

[1] Natl Inst Adv Ind Sci & Technol, Intelligent Syst Inst, Tsukuba, Ibaraki 3058564, Japan

来源：

ROBOT AND HUMAN COMMUNICATION, PROCEEDINGS | 2001年

关键词：

D O I：

10.1109/ROMAN.2001.981915

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

A mobile manipulator will be a practical robot in our daily life environment. In order for the robot to fit the environment useful omni-directional mobile function and posture stabilization function of the mobile base should be necessary. In this paper the construction of omni-directional mobile mechanism and its kinematics for the control are described. The implementation of real-time reaction force sensor for the posture stabilization and its basic experimental results are reported.

引用

页码：274 / 279

页数：6