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: Chapter in Book/Report/Conference proceedingConference contribution

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 languageEnglish
Title of host publicationIEEE Region 10 Annual International Conference, Proceedings/TENCON
Volume2
Publication statusPublished - 2000
Externally publishedYes
Event2000 TENCON Proceedings - Kuala Lumpur, Malaysia
Duration: Sep 24 2000Sep 27 2000

Other

Other2000 TENCON Proceedings
CityKuala Lumpur, Malaysia
Period9/24/009/27/00

Fingerprint

Motion control
Manipulators
Genetic algorithms
Controllers
Compensation and Redress

ASJC Scopus subject areas

  • Engineering(all)

Cite this

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. In IEEE Region 10 Annual International Conference, Proceedings/TENCON (Vol. 2)

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.

IEEE Region 10 Annual International Conference, Proceedings/TENCON. Vol. 2 2000.

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

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. in IEEE Region 10 Annual International Conference, Proceedings/TENCON. vol. 2, 2000 TENCON Proceedings, Kuala Lumpur, Malaysia, 9/24/00.
Hatano M, Ohsumi T, Minami M, Asakura T. Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation. In IEEE Region 10 Annual International Conference, Proceedings/TENCON. Vol. 2. 2000
Hatano, Masatoshi ; Ohsumi, Tsuyoshi ; Minami, Mamoru ; Asakura, Toshiyuki. / Motion control of mobile manipulators traveling on irregular terrain - identification of shape of terrain using GA and inverse dynamics compensation. IEEE Region 10 Annual International Conference, Proceedings/TENCON. Vol. 2 2000.
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