A motion control of mobile manipulator with external force

Abstract

Describes a stable motion control of a mobile manipulator with the consideration of external force. As is well known, the mobile manipulator has infinite motion area, which brings several sophisticated advantages to the manipulator control. However, the unexpected external force to the mobile manipulator makes its motion unstable since there are no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, the cooperative control of the manipulator and vehicle parts is strongly required. To address the above issue, the paper presents a stable control strategy for mobile manipulator in the case that an eternal force exists. The validity of the proposed method is confirmed by several experimental results.