Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques

M. Hatano, M. Minami, T. Ohsumi, H. Obara

Research output: Contribution to conferencePaper

3 Citations (Scopus)

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 languageEnglish
Pages1297-1302
Number of pages6
Publication statusPublished - Jan 1 2001
Externally publishedYes
Event2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings - Como, Italy
Duration: Jul 8 2001Jul 12 2001

Other

Other2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings
CountryItaly
CityComo
Period7/8/017/12/01

Keywords

  • Constraint Condition
  • Disturbance Torque
  • Irregular Terrain
  • Mobile Manipulator
  • Modeling

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Hatano, M., Minami, M., Ohsumi, T., & Obara, H. (2001). Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. 1297-1302. Paper presented at 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, Italy.