Coordination of multiple mobile agents in general requires interactions between an agent and its external, e.g. another agent or its environment. It is therefore essential for each agent to maintain its stability while interacting with the external. In this study we analyze the stability of a mobile manipulator under force control. A lumped linear mass model is employed due to its simplicity and expressivity. First, a mobile platform and a manipulator with an environment are modeled separately. Both are then combined to yield a mobile manipulator model whose behavior is examined under various force control laws.
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