DocumentCode :
1738764
Title :
Motion control of mobile manipulators traveling on irregular terrain dentification of shape of terrain using GA and inverse dynamics compensation
Author :
Hatano, Masatoshi ; Ohsumi, Tsuyoshi ; Minami, Mamoru ; Asakura, Toshiyuki
Author_Institution :
Toyama Univ., Japan
Volume :
2
fYear :
2000
fDate :
2000
Firstpage :
86
Abstract :
This paper deals with the estimation of terrain shape using genetic algorithm (GA) and inverse dynamics compensation for a mobile manipulator travelling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is travelling on an irregular terrain. In this paper, a new compensation method using GA is proposed. Coordinate transformations are done, an inverse dynamics controller is constructed, and an estimation method using GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce the control errors that occur when the mobile manipulator is travelling on an irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane
Keywords :
error compensation; genetic algorithms; manipulator dynamics; manipulator kinematics; mobile robots; motion control; parameter estimation; compensation; genetic algorithm; inverse dynamics; irregular terrain; kinematics; mobile manipulators; motion control; parameter estimation; Cameras; Control systems; Equations; Error correction; Manipulator dynamics; Motion control; Sensor systems; Shape control; Shape measurement; Tellurium;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
TENCON 2000. Proceedings
Conference_Location :
Kuala Lumpur
Print_ISBN :
0-7803-6355-8
Type :
conf
DOI :
10.1109/TENCON.2000.888396
Filename :
888396
Link To Document :
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