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Tatsuo Narikiyo,Michihiro Kawanishi,Tomohito Mizun 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
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 mani pulator 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.