Analysis and control for an omnidirectional mobile manipulator

Keigo Watanabe, Kazuya Sato, Kiyotaka Izumi, Yutaka Kunitake

Research output: Contribution to journalArticle

43 Citations (Scopus)

Abstract

This paper describes analysis and control for a holonomic omnidirectional mobile manipulator, in which the holonomic omnidirectional platform consists of three lateral orthogonal wheel assemblies and a mounted manipulator with three rotational joints is located at the center of gravity of the platform. We first introduce the kinematic model for the mobile manipulator and derive the dynamical model by using the Newton-Euler method, where a model which simultaneously takes account of features of both the manipulator and the mobile parts is given to analyze the effect of the movement of mounted manipulator on the platform. Then, the computed torque control and the resolved acceleration control methods are used to show that the holonomic omnidirectional mobile manipulator can be controlled so as to retain any end-effector position and orientation, irrespective of the direction of external applied force. The validity of the model and the effectiveness of the present mobile manipulator are proved by using several numerical simulations and 3D animations.

Original languageEnglish
Pages (from-to)3-20
Number of pages18
JournalJournal of Intelligent and Robotic Systems: Theory and Applications
Volume27
Issue number1-2
DOIs
Publication statusPublished - Jan 2000
Externally publishedYes

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Manipulators
Acceleration control
Torque control
End effectors
Animation
Wheels
Gravitation
Kinematics
Computer simulation

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

Cite this

Analysis and control for an omnidirectional mobile manipulator. / Watanabe, Keigo; Sato, Kazuya; Izumi, Kiyotaka; Kunitake, Yutaka.

In: Journal of Intelligent and Robotic Systems: Theory and Applications, Vol. 27, No. 1-2, 01.2000, p. 3-20.

Research output: Contribution to journalArticle

Watanabe, Keigo ; Sato, Kazuya ; Izumi, Kiyotaka ; Kunitake, Yutaka. / Analysis and control for an omnidirectional mobile manipulator. In: Journal of Intelligent and Robotic Systems: Theory and Applications. 2000 ; Vol. 27, No. 1-2. pp. 3-20.
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