Adaptive control of mobile manipulators for traveling operations: Remarks on control performance during traveling on unknown terrain

Masatoshi Hatano, Mamoru Minami, Toshiyuki Asakura, Yoshio Takahashi, Masaki Ichimura

Research output: Chapter in Book/Report/Conference proceedingChapter

Abstract

This research is concerned with a control performance in an adaptive control method of a mobile manipulator for traveling operations. Several papers of mobile manipulators have presupposed that the traveling terrain is flat. However, the terrain is usually not flat and the shape is unknown. When the mobile manipulator travels on an irregular terrain, the mobile manipulator is subjected to the effect of the disturbance torques derived from the terrain. First, we will propose a mathematical model of a mobile manipulator traveling on the irregular terrain to evaluate the control performance of controllers. The model considers the constraint forces and dynamical influences of pitching motions on an irregular terrain. The dynamical influences of pitching motions of the mobile manipulator give disturbance torques to the mounted manipulator and disturb the accurate operations of the end-effector of a mounted manipulator. Second, an adaptive controller is constructed for the mobile manipulator traveling on the horizontal plane. Third, the validity of the controller is clarified through simulation experiments. Finally, we discuss the control performance of the adaptive controller in the case that the mobile manipulator travels on an unknown irregular terrain.

Original languageEnglish
Title of host publicationProceedings of the Japan/USA Symposium on Flexible Automation
EditorsK. Stelson, F. Oba
Pages561-568
Number of pages8
Publication statusPublished - Dec 1 1996
Externally publishedYes
EventProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2) - Boston, MA, USA
Duration: Jul 7 1996Jul 10 1996

Publication series

NameProceedings of the Japan/USA Symposium on Flexible Automation
Volume1

Other

OtherProceedings of the 1996 Japan-USA Symposium on Flexible Automation. Part 2 (of 2)
CityBoston, MA, USA
Period7/7/967/10/96

ASJC Scopus subject areas

  • Engineering(all)

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  • Cite this

    Hatano, M., Minami, M., Asakura, T., Takahashi, Y., & Ichimura, M. (1996). Adaptive control of mobile manipulators for traveling operations: Remarks on control performance during traveling on unknown terrain. In K. Stelson, & F. Oba (Eds.), Proceedings of the Japan/USA Symposium on Flexible Automation (pp. 561-568). (Proceedings of the Japan/USA Symposium on Flexible Automation; Vol. 1).