Estimation of slope for mobile manipulator

Kazutaka Kumeno, Toshiyuki Murakami, Kouhei Ohnishi

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

1 Citation (Scopus)

Abstract

In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the floor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances of sensor technologies, it is possible to know the position and configuration of mobile manipulator by acceleration sensors such as gyroscope. They are so powerful, but their cost is still high. This paper proposes a sensorless approach to detect the position and configuration of mobile manipulator without external sensor. In the proposed approach, a slope angle of the floor is estimated by using wheel torque and is utilized for a stable motion planning of the mobile manipulator. Several experimental results are also shown.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
PublisherIEEE
Pages104-109
Number of pages6
Publication statusPublished - 2000

Fingerprint

Manipulators
Sensors
Factory automation
Gyroscopes
Motion planning
Mobile robots
Industrial applications
Wheels
Torque
Costs

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Kumeno, K., Murakami, T., & Ohnishi, K. (2000). Estimation of slope for mobile manipulator. In International Workshop on Advanced Motion Control, AMC (pp. 104-109). IEEE.

Estimation of slope for mobile manipulator. / Kumeno, Kazutaka; Murakami, Toshiyuki; Ohnishi, Kouhei.

International Workshop on Advanced Motion Control, AMC. IEEE, 2000. p. 104-109.

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

Kumeno, K, Murakami, T & Ohnishi, K 2000, Estimation of slope for mobile manipulator. in International Workshop on Advanced Motion Control, AMC. IEEE, pp. 104-109.
Kumeno K, Murakami T, Ohnishi K. Estimation of slope for mobile manipulator. In International Workshop on Advanced Motion Control, AMC. IEEE. 2000. p. 104-109
Kumeno, Kazutaka ; Murakami, Toshiyuki ; Ohnishi, Kouhei. / Estimation of slope for mobile manipulator. International Workshop on Advanced Motion Control, AMC. IEEE, 2000. pp. 104-109
@inproceedings{dc8a43c2b47347928106689eef29f559,
title = "Estimation of slope for mobile manipulator",
abstract = "In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the floor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances of sensor technologies, it is possible to know the position and configuration of mobile manipulator by acceleration sensors such as gyroscope. They are so powerful, but their cost is still high. This paper proposes a sensorless approach to detect the position and configuration of mobile manipulator without external sensor. In the proposed approach, a slope angle of the floor is estimated by using wheel torque and is utilized for a stable motion planning of the mobile manipulator. Several experimental results are also shown.",
author = "Kazutaka Kumeno and Toshiyuki Murakami and Kouhei Ohnishi",
year = "2000",
language = "English",
pages = "104--109",
booktitle = "International Workshop on Advanced Motion Control, AMC",
publisher = "IEEE",

}

TY - GEN

T1 - Estimation of slope for mobile manipulator

AU - Kumeno, Kazutaka

AU - Murakami, Toshiyuki

AU - Ohnishi, Kouhei

PY - 2000

Y1 - 2000

N2 - In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the floor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances of sensor technologies, it is possible to know the position and configuration of mobile manipulator by acceleration sensors such as gyroscope. They are so powerful, but their cost is still high. This paper proposes a sensorless approach to detect the position and configuration of mobile manipulator without external sensor. In the proposed approach, a slope angle of the floor is estimated by using wheel torque and is utilized for a stable motion planning of the mobile manipulator. Several experimental results are also shown.

AB - In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the floor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances of sensor technologies, it is possible to know the position and configuration of mobile manipulator by acceleration sensors such as gyroscope. They are so powerful, but their cost is still high. This paper proposes a sensorless approach to detect the position and configuration of mobile manipulator without external sensor. In the proposed approach, a slope angle of the floor is estimated by using wheel torque and is utilized for a stable motion planning of the mobile manipulator. Several experimental results are also shown.

UR - http://www.scopus.com/inward/record.url?scp=0034479352&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0034479352&partnerID=8YFLogxK

M3 - Conference contribution

SP - 104

EP - 109

BT - International Workshop on Advanced Motion Control, AMC

PB - IEEE

ER -