Inverse dynamics calculation method of power wheeled mobile manipulators

Mamoru Minami, Hisao Tomikawa, Naofumi Fujiwara, Katsuhiro Kanbara

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

Abstract

A manipulator which is able to move freely is effective more than the one fixed on a floor. If the manipulator could operate while it is travelling, the efficiency concerning with the time and energy used for stopping and starting will be raised up more. Equations of motion of the mobile manipulator which is a mobile robot mounted a manipulator have interference terms. As the result of disturbing the motions each other, hand of the manipulator is not able to be controlled to the reference position and orientation in the work frame. Considering the movement of the mobile robot is nonholonomic, the dynamical interferences would be better to be removed. We propose a method to remove the interferences using the Newton-Eular Method, and the simulation experiments show the method is effective.

Original languageEnglish
Title of host publication1993 Int Conf Intell Rob Syst
Editors Anon
PublisherPubl by IEEE
Pages781-786
Number of pages6
ISBN (Print)0780308239
Publication statusPublished - 1993
Externally publishedYes
Event1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3) - Yokohama, Jap
Duration: Jul 26 1993Jul 30 1993

Other

Other1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3)
CityYokohama, Jap
Period7/26/937/30/93

Fingerprint

Manipulators
Mobile robots
Newton-Raphson method
Equations of motion
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Minami, M., Tomikawa, H., Fujiwara, N., & Kanbara, K. (1993). Inverse dynamics calculation method of power wheeled mobile manipulators. In Anon (Ed.), 1993 Int Conf Intell Rob Syst (pp. 781-786). Publ by IEEE.

Inverse dynamics calculation method of power wheeled mobile manipulators. / Minami, Mamoru; Tomikawa, Hisao; Fujiwara, Naofumi; Kanbara, Katsuhiro.

1993 Int Conf Intell Rob Syst. ed. / Anon. Publ by IEEE, 1993. p. 781-786.

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

Minami, M, Tomikawa, H, Fujiwara, N & Kanbara, K 1993, Inverse dynamics calculation method of power wheeled mobile manipulators. in Anon (ed.), 1993 Int Conf Intell Rob Syst. Publ by IEEE, pp. 781-786, 1993 International Conference on Intelligent Robots and Systems. Part 2 (of 3), Yokohama, Jap, 7/26/93.
Minami M, Tomikawa H, Fujiwara N, Kanbara K. Inverse dynamics calculation method of power wheeled mobile manipulators. In Anon, editor, 1993 Int Conf Intell Rob Syst. Publ by IEEE. 1993. p. 781-786
Minami, Mamoru ; Tomikawa, Hisao ; Fujiwara, Naofumi ; Kanbara, Katsuhiro. / Inverse dynamics calculation method of power wheeled mobile manipulators. 1993 Int Conf Intell Rob Syst. editor / Anon. Publ by IEEE, 1993. pp. 781-786
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