Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator

Yusuke Fujimoto, Toshiyuki Murakami

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

6 Citations (Scopus)

Abstract

This paper describes the control scheme for wheelchair pushing operation considering high tracking performance and ride quality using mobile manipulator. The mobile manipulator has both mobility of the mobile platform and manipulability of the multijoint arms, so it can perform many works. Therefore, it is very effective for work in human environments. This research aims at pushing wheelchairs using the mobile manipulator instead of caretakers because in these days caretakers are lacking due to the declining birthrate and a growing proportion of elderly people. In this paper, Lyapunov function based tracking control is used as tracking control and the compliance control is applied in order to improve ride quality. Additionally, by introducing the capacity error, tracking control scheme considering ride quality is proposed. By simulations, the effect of proposed approach is made definite and a better setting of capacity error is considered.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages732-737
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

Keywords

  • Capacity error
  • Dual armed mobile manipulator
  • Pushing operation
  • Ride quality
  • Trajectory tracking

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering

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  • Cite this

    Fujimoto, Y., & Murakami, T. (2010). Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 732-737). [5464037] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464037