Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation

Masatoshi Hatano; Tsuyoshi Ohsumi; Mamoru Minami; Toshiyuki Asakura

Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation

Masatoshi Hatano, Tsuyoshi Ohsumi, Mamoru Minami, Toshiyuki Asakura

Research output: Contribution to conference › Paper › peer-review

Abstract

This paper is concerned with estimation of terrain shape using a GA(Genetic Algorithm) and inverse dynamics compensation for a mobile manipulator traveling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is traveling on irregular terrain. In this paper, a new compensation method using a GA is proposed. First, coordinate transformations are done. Second, an inverse dynamics controller is constructed. Third, an estimation method using a GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce control errors that occur when the mobile manipulator is traveling on irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane.

Original language	English
Pages	II-86-II-91
Publication status	Published - Dec 1 2000
Externally published	Yes
Event	2000 TENCON Proceedings - Kuala Lumpur, Malaysia Duration: Sep 24 2000 → Sep 27 2000

Other

Other	2000 TENCON Proceedings
City	Kuala Lumpur, Malaysia
Period	9/24/00 → 9/27/00

ASJC Scopus subject areas

Computer Science Applications
Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation'. Together they form a unique fingerprint.

Cite this

Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation. / Hatano, Masatoshi; Ohsumi, Tsuyoshi; Minami, Mamoru; Asakura, Toshiyuki.

2000. II-86-II-91 Paper presented at 2000 TENCON Proceedings, Kuala Lumpur, Malaysia, .

Research output: Contribution to conference › Paper › peer-review

@conference{f61fa8c24dde405a80e3d9964a2696a5,

title = "Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation",

abstract = "This paper is concerned with estimation of terrain shape using a GA(Genetic Algorithm) and inverse dynamics compensation for a mobile manipulator traveling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is traveling on irregular terrain. In this paper, a new compensation method using a GA is proposed. First, coordinate transformations are done. Second, an inverse dynamics controller is constructed. Third, an estimation method using a GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce control errors that occur when the mobile manipulator is traveling on irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane.",

author = "Masatoshi Hatano and Tsuyoshi Ohsumi and Mamoru Minami and Toshiyuki Asakura",

year = "2000",

month = dec,

day = "1",

language = "English",

pages = "II--86--II--91",

note = "2000 TENCON Proceedings ; Conference date: 24-09-2000 Through 27-09-2000",

}

TY - CONF

T1 - Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation

AU - Hatano, Masatoshi

AU - Ohsumi, Tsuyoshi

AU - Minami, Mamoru

AU - Asakura, Toshiyuki

PY - 2000/12/1

Y1 - 2000/12/1

N2 - This paper is concerned with estimation of terrain shape using a GA(Genetic Algorithm) and inverse dynamics compensation for a mobile manipulator traveling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is traveling on irregular terrain. In this paper, a new compensation method using a GA is proposed. First, coordinate transformations are done. Second, an inverse dynamics controller is constructed. Third, an estimation method using a GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce control errors that occur when the mobile manipulator is traveling on irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane.

AB - This paper is concerned with estimation of terrain shape using a GA(Genetic Algorithm) and inverse dynamics compensation for a mobile manipulator traveling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is traveling on irregular terrain. In this paper, a new compensation method using a GA is proposed. First, coordinate transformations are done. Second, an inverse dynamics controller is constructed. Third, an estimation method using a GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce control errors that occur when the mobile manipulator is traveling on irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane.

UR - http://www.scopus.com/inward/record.url?scp=0034430681&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034430681&partnerID=8YFLogxK

M3 - Paper

AN - SCOPUS:0034430681

SP - II-86-II-91

T2 - 2000 TENCON Proceedings

Y2 - 24 September 2000 through 27 September 2000

ER -