CONTROL OF TWO WHEEL MOBILE MANIPULATOR ON A ROUGH TERRAIN USING REACTION TORQUE OBSERVER FEEDBACK

two-wheel mobile manipulator for un- known environments especially for rough/irregular terrain is discussed in this paper. Information about the environ- ment, a key factor when aiming for compliance with an unknown and/or unstructured environment, was collected using a reaction torque observer. In order to adapt to the environment, compliance control was applied to the mobile manipulator. In this paper, we present a novel control strategy we have developed that can deal with unknown environments through the effective use of inverted pendulum control. Simulation and experiments were carried out to ensure the validity of the proposed method. The method could be confirmed as effective according to the results obtained.