ＰＷＳ型移動マニピュレータの逆動力学補償法の提案

• 見浪 護

• 朝倉 俊行

• 藤原 直史

• 神原 克宏

書誌事項

タイトル別名

• A Proposal of Inverse Dynamics Compensation Method for PWS (omit-type) Mobile Manipulators.
• PWSガタ イドウ マニピュレータ ノ ギャク ドウリキガク ホショウホウ ノ

抄録

Manipulators which can move by itself are called "Mobile Manipulators". In this paper we propose a calculation method of inverse dynamics compensation for a power-wheeled-steering (PWS) mobile manipulator. The Newton-Euler method is used for the compensation calculation. The mobile manipulator has a different characteristic from a floor-fixed manipulator in that it moves according to nonholonomic constraints. The constraints integrate velocity and angular velocity errors of the mobile manipulator on a floor, then the errors influence the hand position and orientation of the mounted manipulator. The integrated errors do not disappear even after the dynamical vibration of the mobile manipulator has settled. Therefore, to reduce the integrating errors, the velocity errors of the mobile manipulator should be reduced. We propose a method of inverse dynamics compensation, and comfirm the effects by simulation experiments.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 61 (591), 4351-4358, 1995

  一般社団法人 日本機械学会

キーワード

• Robot
• Moving Robot
• Computer Control
• Mobile Manipulator
• Inverse Dynamics
• Nonlinear Compensation

詳細情報

• CRID: 1390001206328721536
• NII論文ID: 110002382225
• NII論文ID: 130004231389
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.61.4351
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 3634239
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I3634239
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/61/591/61_591_4351/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可