移動マニピュレータの誘導制御法の提案と評価 Proposal and Evaluation of Guidance Control Method of Mobile Manipulator

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抄録

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.

収録刊行物

  • 日本ロボット学会誌 = Journal of Robotics Society of Japan  

    日本ロボット学会誌 = Journal of Robotics Society of Japan 25(2), 259-266, 2007-03-01 

    The Robotics Society of Japan

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各種コード

  • NII論文ID(NAID)
    10018869632
  • NII書誌ID(NCID)
    AN00141189
  • 本文言語コード
    JPN
  • 資料種別
    ART
  • ISSN
    02891824
  • NDL 記事登録ID
    8747951
  • NDL 雑誌分類
    ZN11(科学技術--機械工学・工業)
  • NDL 請求記号
    Z16-1325
  • データ提供元
    CJP書誌  NDL  J-STAGE 
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