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Manipulation of a Mobile Modular Manipulator Interacting with the Environment with the Assistance of Tactile Sensing Feedback

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Intelligent Robotics and Applications (ICIRA 2010)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 6424))

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Abstract

This paper presents a modeling method for a mobile modular manipulator (MMM) interacting with the environment, which is composed of a mobile base and a 5-DOF manipulator. A tactile sensor, which is installed at the tip of the end-effector of the mobile manipulator, is to detect the feedback information from the environment. The dynamic equations are formulated and the controller is proposed with both the redundancy resolution and manipulability measures. The tactile sensing-assisted strategies are proposed and combined into the control algorithm. A real mobile manipulator is built up to contact with the environment in our lab and the results show the effectiveness of the proposed method.

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Author information

Authors and Affiliations

  1. Department of Electromechanical Engineering, University of Macau, Macao SAR, China

    Jingguo Wang & Yangmin Li

Authors
  1. Jingguo Wang
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  2. Yangmin Li
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Editor information

Editors and Affiliations

  1. School of Creative Technologies, The University of Portsmouth, PO1 2DJ, Portsmouth, UK

    Honghai Liu

  2. Robotics Institute, Shanghai Jiao Tong University, 200240, Shanghai, China

    Han Ding , Zhenhua Xiong  & Xiangyang Zhu ,  & 

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Wang, J., Li, Y. (2010). Manipulation of a Mobile Modular Manipulator Interacting with the Environment with the Assistance of Tactile Sensing Feedback. In: Liu, H., Ding, H., Xiong, Z., Zhu, X. (eds) Intelligent Robotics and Applications. ICIRA 2010. Lecture Notes in Computer Science(), vol 6424. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-16584-9_20

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  • DOI: https://doi.org/10.1007/978-3-642-16584-9_20

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-16583-2

  • Online ISBN: 978-3-642-16584-9

  • eBook Packages: Computer ScienceComputer Science (R0)

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