A motion control of mobile manipulator with external force

This paper describes a stable motion control of a mobile manipulator with t he consideration of external force. As is well known, the mobile manipulato r has infinite motion area, which brings several sophisticated advantages t o the manipulator control. However, the unexpected external force to the mo bile manipulator makes its motion unstable since there are no fixed points in the stationary coordinate. To obtain the stable motion independently of the external force, the cooperative control of the manipulator and vehicle parts is strongly required. To address the above issue, this paper presents a stable control strategy for mobile manipulator in case eternal force exi sts. The validity of the proposed method is confirmed by several experiment al results.