Abstract
In the present research, we propose a model of a dynamic mobile manipulator traveling on irregular terrain and evaluate disturbance torques caused by irregular terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is requited to operate precisely while traveling on irregular terrain, it is subject to disturbance torques caused by traveling across such terrain. Therefore, a compensation method of decreasing control errors caused by disturbances due to terrain must be considered. In this paper, a model of a dynamic mobile manipulator traveling on irregular terrain is formulated with traveling states and constraint conditions. Then, the magnitude of disturbance torques caused by irregular terrain are discussed.
| Original language | English |
|---|---|
| Title of host publication | IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM |
| Pages | 1297-1302 |
| Number of pages | 6 |
| Volume | 2 |
| Publication status | Published - 2001 |
| Externally published | Yes |
| Event | 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy Duration: Jul 8 2001 → Jul 12 2001 |
Other
| Other | 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings |
|---|---|
| Country | Italy |
| City | Como |
| Period | 7/8/01 → 7/12/01 |
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Keywords
- Constraint Condition
- Disturbance Torque
- Irregular Terrain
- Mobile Manipulator
- Modeling
ASJC Scopus subject areas
- Engineering(all)
Cite this
Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. / Hatano, M.; Minami, Mamoru; Ohsumi, T.; Obara, H.
IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. p. 1297-1302.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
T1 - Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques
AU - Hatano, M.
AU - Minami, Mamoru
AU - Ohsumi, T.
AU - Obara, H.
PY - 2001
Y1 - 2001
N2 - In the present research, we propose a model of a dynamic mobile manipulator traveling on irregular terrain and evaluate disturbance torques caused by irregular terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is requited to operate precisely while traveling on irregular terrain, it is subject to disturbance torques caused by traveling across such terrain. Therefore, a compensation method of decreasing control errors caused by disturbances due to terrain must be considered. In this paper, a model of a dynamic mobile manipulator traveling on irregular terrain is formulated with traveling states and constraint conditions. Then, the magnitude of disturbance torques caused by irregular terrain are discussed.
AB - In the present research, we propose a model of a dynamic mobile manipulator traveling on irregular terrain and evaluate disturbance torques caused by irregular terrain. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is requited to operate precisely while traveling on irregular terrain, it is subject to disturbance torques caused by traveling across such terrain. Therefore, a compensation method of decreasing control errors caused by disturbances due to terrain must be considered. In this paper, a model of a dynamic mobile manipulator traveling on irregular terrain is formulated with traveling states and constraint conditions. Then, the magnitude of disturbance torques caused by irregular terrain are discussed.
KW - Constraint Condition
KW - Disturbance Torque
KW - Irregular Terrain
KW - Mobile Manipulator
KW - Modeling
UR - http://www.scopus.com/inward/record.url?scp=0034864083&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0034864083&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0034864083
VL - 2
SP - 1297
EP - 1302
BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
ER -