Modeling of mobile manipulators on irregular terrain and evaluation of disturbance torques

We propose a model of a dynamic mobile manipulator travelling on an irregular terrain and evaluate disturbance torques caused by the irregular terrain. 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 travelling on an irregular terrain, it is subject to disturbance torques caused by travelling across such terrain. Therefore, a compensation method of reducing the control errors caused by disturbances due to terrain must be considered. In this paper, a model of a dynamic mobile manipulator travelling on irregular terrains is formulated with the travelling states and constraint conditions. Then, the magnitude of disturbance torques caused by irregular terrains are discussed