Analysis on the Interaction between the Nonholonomic Mobile Modular Robot and the Environment

摘要：

To execute such robotic tasks as behaving interactions with the environment, it is required to control not only the position of a manipulator but also the force exerted at the contact. The paper .rst presents the dynamic modeling of the mobile modular robot (MMR) which is composed of the mobile platform and the modular manipulator. The mobile robot, having two degrees of freedom(DOF) because of the nonholonomic constraints, is combined with the atop manipulator as a whole body. The controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law via simulations and real experiments and their results show the e.ectiveness of the proposed method.

关键词： Dynamics control Mobile modular robot Tactile sensor Force-torque sensor Nonholonomic constraints null space

作者: Jingguo Wang Yangmin Li

作者单位: Department of Electromechanical Engineering,Faculty of Science and Technology,University of Macau,Av.Padre Tomás Pereira,Taipa,Macao S.A.R.,China

会议类型: 国际会议

会议名称: 2009 IEEE International Conference on Robotics and Biomimetics(2009 IEEE 机器人与仿生技术国际会议 ROBIO 2009)

会议地点: 桂林

会议语种:英文

页码: 86-91

在线出版日期: 2009-12-19（万方平台首次上网日期，不代表论文的发表时间）