Robust adaptive position/force control of mobile manipulators — Theory and experiments

Abstract

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. Therefore we have proposed two adaptive hybrid position/force control schemes for mobile manipulators. In this paper we impliment these control schemes experimentally and demonstarate the effectiveness of these proposed control schemes.