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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages732-737
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Mobile Manipulator
Wheelchairs
Quality Improvement
Tracking Control
Manipulators
Elderly People
Compliance control
Compliance
Lyapunov Function
Proportion
Lyapunov functions
Simulation

Keywords

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

ASJC Scopus subject areas

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

Cite this

Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator. / Fujimoto, Yusuke; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. 2010. p. 732-737 5464037.

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

Fujimoto, Y & Murakami, T 2010, Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator. in International Workshop on Advanced Motion Control, AMC., 5464037, pp. 732-737, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464037
@inproceedings{dfb2239e9e804265b2ed918c0a4ca3d6,
title = "Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator",
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.",
keywords = "Capacity error, Dual armed mobile manipulator, Pushing operation, Ride quality, Trajectory tracking",
author = "Yusuke Fujimoto and Toshiyuki Murakami",
year = "2010",
doi = "10.1109/AMC.2010.5464037",
language = "English",
isbn = "9781424466696",
pages = "732--737",
booktitle = "International Workshop on Advanced Motion Control, AMC",

}

TY - GEN

T1 - Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator

AU - Fujimoto, Yusuke

AU - Murakami, Toshiyuki

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Capacity error

KW - Dual armed mobile manipulator

KW - Pushing operation

KW - Ride quality

KW - Trajectory tracking

UR - http://www.scopus.com/inward/record.url?scp=77953789663&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=77953789663&partnerID=8YFLogxK

U2 - 10.1109/AMC.2010.5464037

DO - 10.1109/AMC.2010.5464037

M3 - Conference contribution

AN - SCOPUS:77953789663

SN - 9781424466696

SP - 732

EP - 737

BT - International Workshop on Advanced Motion Control, AMC

ER -