Mobile manipulator is increasingly expected to undertake tasks in intelligent automated factories. However, when facing resistance tasks in small spaces, it is a challenge to ensure the safety of target objects and robots without using high-precision positioning sensors. To address this issue, we propose a force exertion method for redundant mobile manipulators. To improve force exertion capability, the force manipulability ellipsoid of the mobile manipulator is optimized by exploiting its redundancy under a whole-body controller. Furthermore, a hybrid force-impedance control strategy is developed to guarantee safe operation in compact-space resistance tasks. The proposed method is validated by performing a turn-on-switch experiment.


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    Titel :

    A Force Exertion Method for Redundant Mobile Manipulators Safely Operating in Small Spaces


    Weitere Titelangaben:

    Lect.Notes Computer


    Beteiligte:
    Yang, Huayong (Herausgeber:in) / Liu, Honghai (Herausgeber:in) / Zou, Jun (Herausgeber:in) / Yin, Zhouping (Herausgeber:in) / Liu, Lianqing (Herausgeber:in) / Yang, Geng (Herausgeber:in) / Ouyang, Xiaoping (Herausgeber:in) / Wang, Zhiyong (Herausgeber:in) / Zhao, Guanyi (Autor:in) / Wu, Yuqiang (Autor:in)

    Kongress:

    International Conference on Intelligent Robotics and Applications ; 2023 ; Hangzhou, China July 05, 2023 - July 07, 2023



    Erscheinungsdatum :

    16.10.2023


    Format / Umfang :

    11 pages




    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch





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