Development of magnetic nail guidance system for mobile manipulators

Yoshikazu Nakano, Mamoru Minami, Toshiyuki Asakura

Research output: Contribution to conferencePaper

Abstract

A robot system composed of a mobile robot and an manipulator is called a `mobile manipulator'. In this paper a navigation system based on dead-reckoning for a power wheeled steering (PWS) mobile manipulator is proposed. A guidance control using dead-reckoning requires periodical compensation of estimated position and heading errors. We propose the compensation method which detects x-y coordinates on the travelling plane and heading around z axis by using magnet marker placed along a course. Moreover a guidance method aimed at correct approaching to a destination point with a designated heading is proposed, which constructs a autonomous navigation system with the magnetic compensation device. And the total navigation system is discussed on a basis dynamical and kinematical formulation of the PWS mobile manipulator.

Original languageEnglish
Pages791-796
Number of pages6
Publication statusPublished - Dec 1 1997
Externally publishedYes
EventProceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC - Boston, MA, USA
Duration: Nov 9 1997Nov 12 1997

Other

OtherProceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC
CityBoston, MA, USA
Period11/9/9711/12/97

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ASJC Scopus subject areas

  • Automotive Engineering
  • Mechanical Engineering
  • Computer Science Applications

Cite this

Nakano, Y., Minami, M., & Asakura, T. (1997). Development of magnetic nail guidance system for mobile manipulators. 791-796. Paper presented at Proceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC, Boston, MA, USA, .