非ホロノミック移動マニピュレータの逆動力学補償の効果

概要

論文の詳細を見る
Manipulators which can move by itself are called“Mobile Manipulators”.In this paper we show effects of inverse dynamics compensation for power-wheeled-steering (PWS) Mobile Manipulator. The Newton-Euler method is used for the compensation calculation. Mobile Manipulator has a different characteristic from a floor-fixed manipulator, in that it moves according to nonholonomic constraints. The constraints integrate travelling velocity error and turning angular velocity error of the Mobile Manipulator on a floor, then the hand position and orientation of the mounted manipulator include the accumulated errors. The errors do not disappear even after the dynamic vibration of Mobile Manipulator has settled. Therefore, to reduce the integrating errors, the travelling errors of the mobile manipulator should be reduced. We show the effects of the proposed compensation confirmed by real experiments with our experimental Mobile Manipulator system.
社団法人日本ロボット学会の論文
1997-03-15