Robust Adaptive Position/Force Control of Mobile Manipulators with Dynamic Uncertainties

T. Narikiyo, M. Kawanishi, and M. Nakagawa (Japan)


mobile manipulator, hybrid position/force control, adaptivecontrol


A mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track to both the desired position trajectory and force trajectory. These tracking performances are attained by hybrid position/force control. In this paper, we propose a new adaptive control scheme for a mobile manipulator. The proposed adaptive control scheme consists of adaptive tracking control to desired position/force trajectories and robust control for unknown bounded disturbance. Effectiveness of the proposed control scheme is demonstrated by numerical simulation.

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