移動マニピュレータの誘導制御法の提案と評価 [in Japanese] Proposal and Evaluation of Guidance Control Method of Mobile Manipulator [in Japanese]
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The traveling operation of a mobile manipulator involves some difficulties to control, such as dynamical interference and non-holonomic character. The integration of errors in trajectory-tracking of the mobile manipulator is caused by the non-holonomic constraint expressed by a differential equation of first order. The integrated error never converges to zero by a controller being used usually for fixed manipulator. Constructing a controller including a consideration of the non-holonomic constraint can solve this problem. We propose a control method that guarantees zero convergence of guidance errors and the trajectory tracking errors of the mobile manipulator. The proof is given by Liapunov method. Simulations confirm the performances of the proposed controller, and the results show that the guidance errors and trajectory-tracking errors converge to zero. Furthermore how the dynamical influences caused by slipping of carrying objects on the mobile manipulator affect the trajectory-tracking performances of the proposed controller is evaluated by several simulations.
JRSJ 25(2), 259-266, 2007-03-01
The Robotics Society of Japan