Proposal of inverse dynamics compensation method for PWS (omit-type) mobile manipulators

Mamoru Minami, Toshiyuki Asakura, Naofumi Fujiwara, Katsuhiro Kanbara

Research output: Contribution to journalArticle

Abstract

Manipulators which can move by itself are called 'Mobile Manipulators'. In this paper we propose a calculation method of inverse dynamics compensation for a power-wheeled-steering (PWS) mobile manipulator. The Newton-Euler method is used for the compensation calculation. The mobile manipulator has a different characteristic from a floor-fixed manipulator in that it moves according to nonholonomic constraints. The constraints integrate velocity and angular velocity errors of the mobile manipulator on a floor, then the errors influence the hand position and orientation of the mounted manipulator. The integrated errors do not disappear even after the dynamical vibration of the mobile manipulator has settled. Therefore, to reduce the integrating errors, the velocity errors of the mobile manipulator should be reduced. We propose a method of inverse dynamics compensation, and confirm the effects by simulation experiments.

Original languageEnglish
Pages (from-to)4351-4358
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Volume61
Issue number591
Publication statusPublished - Nov 1995
Externally publishedYes

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ASJC Scopus subject areas

  • Mechanical Engineering

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