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 |
|---|---|
| Title of host publication | IEEE Region 10 Annual International Conference, Proceedings/TENCON |
| Volume | 2 |
| Publication status | Published - 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 |
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ASJC Scopus subject areas
- Engineering(all)
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.
IEEE Region 10 Annual International Conference, Proceedings/TENCON. Vol. 2 2000.Research output: Chapter in Book/Report/Conference proceeding › Conference contribution
}
TY - GEN
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
Y1 - 2000
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 - Conference contribution
VL - 2
BT - IEEE Region 10 Annual International Conference, Proceedings/TENCON
ER -