The experimental performance of a mobile manipulator control algorithm
نویسندگان
چکیده
Results are presented of an experimental study of a recently developed motion control algorithm for mobile manipulators. First, the dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. Then the mobile manipulator control algorithm, which accounts for dynamic vehicle motions caused by manipulator motions, is shown to be stable and to perform well, while using only limited sensory data, such as would be practically available in highly unstructured field environments.
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