Development of magnetic nail guidance system for mobile manipulators

Yoshikazu Nakano, Mamoru Minami, Toshiyuki Asakura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

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
Title of host publicationIEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC
Editors Anon
PublisherIEEE
Pages791-796
Number of pages6
Publication statusPublished - 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

Fingerprint

Nails
Manipulators
Navigation systems
Mobile robots
Magnets
Robots
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Nakano, Y., Minami, M., & Asakura, T. (1997). Development of magnetic nail guidance system for mobile manipulators. In Anon (Ed.), IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC (pp. 791-796). IEEE.

Development of magnetic nail guidance system for mobile manipulators. / Nakano, Yoshikazu; Minami, Mamoru; Asakura, Toshiyuki.

IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. ed. / Anon. IEEE, 1997. p. 791-796.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Nakano, Y, Minami, M & Asakura, T 1997, Development of magnetic nail guidance system for mobile manipulators. in Anon (ed.), IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. IEEE, pp. 791-796, Proceedings of the 1997 IEEE Conference on Intelligent Transportation Systems, ITSC, Boston, MA, USA, 11/9/97.
Nakano Y, Minami M, Asakura T. Development of magnetic nail guidance system for mobile manipulators. In Anon, editor, IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. IEEE. 1997. p. 791-796
Nakano, Yoshikazu ; Minami, Mamoru ; Asakura, Toshiyuki. / Development of magnetic nail guidance system for mobile manipulators. IEEE Conference on Intelligent Transportation Systems, Proceedings, ITSC. editor / Anon. IEEE, 1997. pp. 791-796
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