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

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

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

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
Title of host publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1297-1302
Number of pages6
Volume2
Publication statusPublished - 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

Fingerprint

Manipulators
Torque
Industrial plants
Compensation and Redress

Keywords

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

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hatano, M., Minami, M., Ohsumi, T., & Obara, H. (2001). Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (Vol. 2, pp. 1297-1302)

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 proceedingConference contribution

Hatano, M, Minami, M, Ohsumi, T & Obara, H 2001, Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. vol. 2, pp. 1297-1302, 2001 IEEE/ASME International Conference on Advanced Intelligent Mechatronics Proceedings, Como, Italy, 7/8/01.
Hatano M, Minami M, Ohsumi T, Obara H. Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2. 2001. p. 1297-1302
Hatano, M. ; Minami, Mamoru ; Ohsumi, T. ; Obara, H. / Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. Vol. 2 2001. pp. 1297-1302
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