TY - GEN
T1 - Generation of large pulling force by a mobile manipulator through singular configuration
AU - Wan, Xianglong
AU - Urakubo, Takateru
AU - Mashimo, Tomoaki
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015
Y1 - 2015
N2 - This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to pull the object is generated simultaneously. A theoretical analysis is performed to explain the numerical results by using a simplified model of the mobile manipulator.
AB - This paper deals with the optimal motion of a mobile manipulator for dragging a heavy object with the end effector. When the object is moved a certain distance, the torques that are consumed in the mobile manipulator during the motion are minimized by numerical optimization. In the optimized motion, the arm mounted on the mobile base passes through its singular configuration, and a large force to pull the object is generated simultaneously. A theoretical analysis is performed to explain the numerical results by using a simplified model of the mobile manipulator.
UR - http://www.scopus.com/inward/record.url?scp=84964505056&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84964505056&partnerID=8YFLogxK
U2 - 10.1109/ROBIO.2015.7418802
DO - 10.1109/ROBIO.2015.7418802
M3 - Conference contribution
AN - SCOPUS:84964505056
T3 - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
SP - 408
EP - 414
BT - 2015 IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015
Y2 - 6 December 2015 through 9 December 2015
ER -