NDLI: Evaluation of disturbance torques exerting on mobile manipulators traveling on irregular terrain

Content Provider	IEEE Xplore Digital Library
Author	Hatano, M. Ohsumi, T. Obara, H.
Copyright Year	2003
Description	Author affiliation: Fac. of Eng., Toyama Univ., Japan (Hatano, M.; Ohsumi, T.; Obara, H.)
Abstract	In the present research, we evaluate disturbance torques derived by terrain during traveling on irregular terrain quantitatively based on the proposed model of a dynamic mobile manipulator. Terrain irregularities exist even in structures such as the man-made floors of factories and buildings. When a mobile manipulator's hand is required to operate precisely while traveling on irregular terrain, it is subject to disturbance torques caused by traveling across such terrain. Therefore, a compensation method of decreasing control errors caused by disturbances due to terrain must be considered. In this paper, disturbance torques caused by irregular terrain are defined based on our proposed model. Relationships between changes in disturbance torques, changes in periods of terrain and changes in traveling speed are evaluated quantitatively by simulations.
Sponsorship	IEEE Ind. Electron. Soc.(IES) IEEE Robotics & Autom. Soc. (RAS) ASME Dynamic Syst. & Control Div. (DSC)
Starting Page	1280
Ending Page	1285
File Size	669720
Page Count	6
File Format	PDF
ISBN	0780377591
DOI	10.1109/AIM.2003.1225527
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2003-07-20
Publisher Place	Japan
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulator dynamics Mobile robots Control systems Velocity control Floors Production facilities Robot control Shape Rain Buildings
Content Type	Text
Resource Type	Article

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