An improvement method of compliance control in pushing operation by mobile manipulator

Yusuke Fujimoto, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

This paper describes a new control method for pushing operation by mobile manipulator. The mobile manipulator can perform many tasks because it has mobility of the mobile platform and manipulability of the multijoint arms. Therefore, it is very effective for tasks in human environment. Using this advantage of the mobile manipulator, this paper aims at pushing operation in human environment. In pushing operation, stability of a pushing object is very important factor. Also, in the case that a pushing object is a wheelchair, stability is a great factor in the meaning of ride quality. As the method to enhance these factors, there was compliance control in past researches. However, in pushing operation by compliance control, there is the problem of tracking performance because this method does not consider nonholonomic constraint of a pushing object. In this paper, by improving compliance control, the control method is proposed that considers nonholonomic constraint and becomes asymptotically stable to a desired trajectory. By this proposed method, both high stability and tracking performance of a pushing object can be realized in pushing operation. The experiments were carried out in order to verify the validity of the proposed method.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages1447-1452
Number of pages6
DOIs
Publication statusPublished - 2010
Event36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
Duration: 2010 Nov 72010 Nov 10

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
CountryUnited States
CityGlendale, AZ
Period10/11/710/11/10

Fingerprint

Compliance control
Manipulators
Wheelchairs
Trajectories
Experiments

Keywords

  • Compliance control
  • Dual armed mobile manipulator
  • Pushing operation
  • Stability
  • Tracking performance

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Fujimoto, Y., & Murakami, T. (2010). An improvement method of compliance control in pushing operation by mobile manipulator. In IECON Proceedings (Industrial Electronics Conference) (pp. 1447-1452). [5675469] https://doi.org/10.1109/IECON.2010.5675469

An improvement method of compliance control in pushing operation by mobile manipulator. / Fujimoto, Yusuke; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). 2010. p. 1447-1452 5675469.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Fujimoto, Y & Murakami, T 2010, An improvement method of compliance control in pushing operation by mobile manipulator. in IECON Proceedings (Industrial Electronics Conference)., 5675469, pp. 1447-1452, 36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010, Glendale, AZ, United States, 10/11/7. https://doi.org/10.1109/IECON.2010.5675469
Fujimoto Y, Murakami T. An improvement method of compliance control in pushing operation by mobile manipulator. In IECON Proceedings (Industrial Electronics Conference). 2010. p. 1447-1452. 5675469 https://doi.org/10.1109/IECON.2010.5675469
Fujimoto, Yusuke ; Murakami, Toshiyuki. / An improvement method of compliance control in pushing operation by mobile manipulator. IECON Proceedings (Industrial Electronics Conference). 2010. pp. 1447-1452
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