Motion control of mobile manipulators moving on waved road surfaces using neural networks

Masatoshi Hatano, Mamoru Minami, Toshiyuki Asakura, Yoshio Takahashi, Masaki Ichimura

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

2 Citations (Scopus)

Abstract

This research is concerned with a control method of mobile manipulators using a neural network for traveling operations on a waved road surface. When the mobile manipulator travels on an unknown terrain, the mobile manipulator is subjected to the effect of the disturbance torques. In this research, the controller is proposed to compensate the disturbance torques. First, an exact mathematical mobile manipulator model traveling on a waved road surface is proposed with the pitching motion along to the road. Second, the neuro adaptive controller with the compensator using the neural network is proposed to improve the trajectory-tracking control performances. Third, the control performance of the adaptive controller is examined, and the tracking error depending on the amplitude of the waved road and the traveling speed are discussed. Finally, it is clarified through simulation experiments that the traveling-performance are improved by the our proposed neuro adaptive controller.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages277-282
Number of pages6
Volume1
Publication statusPublished - 1996
Externally publishedYes
EventProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2) - Tsu, Jpn
Duration: Mar 18 1996Mar 21 1996

Other

OtherProceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2)
CityTsu, Jpn
Period3/18/963/21/96

Fingerprint

Motion control
Manipulators
Neural networks
Controllers
Torque
Trajectories
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Hatano, M., Minami, M., Asakura, T., Takahashi, Y., & Ichimura, M. (1996). Motion control of mobile manipulators moving on waved road surfaces using neural networks. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 277-282). IEEE.

Motion control of mobile manipulators moving on waved road surfaces using neural networks. / Hatano, Masatoshi; Minami, Mamoru; Asakura, Toshiyuki; Takahashi, Yoshio; Ichimura, Masaki.

International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. p. 277-282.

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

Hatano, M, Minami, M, Asakura, T, Takahashi, Y & Ichimura, M 1996, Motion control of mobile manipulators moving on waved road surfaces using neural networks. in International Workshop on Advanced Motion Control, AMC. vol. 1, IEEE, pp. 277-282, Proceedings of the 1996 4th International Workshop on Advanced Motion Control, AMC'96. Part 1 (of 2), Tsu, Jpn, 3/18/96.
Hatano M, Minami M, Asakura T, Takahashi Y, Ichimura M. Motion control of mobile manipulators moving on waved road surfaces using neural networks. In International Workshop on Advanced Motion Control, AMC. Vol. 1. IEEE. 1996. p. 277-282
Hatano, Masatoshi ; Minami, Mamoru ; Asakura, Toshiyuki ; Takahashi, Yoshio ; Ichimura, Masaki. / Motion control of mobile manipulators moving on waved road surfaces using neural networks. International Workshop on Advanced Motion Control, AMC. Vol. 1 IEEE, 1996. pp. 277-282
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