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

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

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Hatano, M., Ohsumi, T., Minami, M., & Asakura, T. (2000). Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation. II-86-II-91. Paper presented at 2000 TENCON Proceedings, Kuala Lumpur, Malaysia, .

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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.",

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year = "2000",

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AU - Asakura, Toshiyuki

PY - 2000/12/1

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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.

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