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 |
|---|---|
| Pages | 1297-1302 |
| Number of pages | 6 |
| Publication status | Published - Jan 1 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 |
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