非ホロノミック移動マニピュレータの誘導制御

概要

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This research is concerned with navigation control of a non-holonomic mobile manipulators. First， we propose a new dynamical formulation method of a mobile manipulator which traveling motion is restricted kinematically by non-holonomic constraints. The proposed formulation named Newton-Euler method has two merits as compared with a currently authorized Lagrange method: (1) it does not require to reduce a number of generalized coordinates， because minimum state variables are used in the modeling procedure from the first， (2) it suits to inverse dynamical calculation， the property is derived from recursive formulation enabled by a serial link structure of mounted manipulator. Secondly， we consider how to control of a trajectories of both mobile robot and mounted manipulator. When the mobile manipulator operates during traveling， dynamical interference between the mounted manipulator and the mobile robot influence each other， and they produce navigation errors that are position/orientation errors， and trajectory tracking errors of mounted manipulator. Finally， a navigation control method which guarantees the navigation errors and trajectory trcking errors of n-link mounted manipulator converge to zero is proposed. The proof is shown by Liapunov method， and it is also confirmed by simulations.
福井大学の論文