公开(公告)号：US20240123612A1

公开(公告)日：2024-04-18

申请号：US18170923

申请日：2023-02-17

Applicant: ELECTRONICS AND TELECOMMUNICATIONS RESEARCH INSTITUTE

Inventor： Wookyong KWON ,  Yongsik JIN ,  Dongyeop KANG ,  Seung Woo NAM ,  Jeyoun DONG

IPC: B25J9/16 ,  B25J5/00 ,  B25J9/00 ,  B25J19/00

CPC classification number: B25J9/161 ,  B25J5/007 ,  B25J9/0009 ,  B25J19/002

Abstract: Provided is a mobile manipulator for performing a target motion, which includes a base unit configured to perform a positional shift and having a rail in some section thereof, and an arm unit including multi-joints and configured to perform a positional shift on the rail in consideration of a center of gravity when performing a target motion. The arm unit performs the target motion through adaptive neural network-based compensation control.