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Mobile manipulation of a fragile object

  • Chapter 10 Dynamics And Control
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

We present in this paper some experimental results obtained with a mobile manipulator carrying a fragile object. Different control structures are compared in order to determine the most efficient. One solution is based on “high gain” control (sliding mode). The other solutions are based on impedance control. From acceleration measurements on the object, we present and analyze the effects of bumps induced by the mobile base.

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References

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Author information

Authors and Affiliations

  1. LIRMM, UMR 9928 Université Montpellier II / CNRS, 161 rue Ada, 34392, Montpellier Cedex 5, France

    Philippe Fraisse, Pierre Dauchez, François Pierrot & Lise Cellier

Authors
  1. Philippe Fraisse
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  2. Pierre Dauchez
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  3. François Pierrot
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  4. Lise Cellier
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Fraisse, P., Dauchez, P., Pierrot, F., Cellier, L. (1997). Mobile manipulation of a fragile object. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035236

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  • DOI: https://doi.org/10.1007/BFb0035236

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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