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

Yusuke Fujimoto, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings - IECON 2010, 36th Annual Conference of the IEEE Industrial Electronics Society
ページ1447-1452
ページ数6
DOI
出版ステータスPublished - 2010 12 1
イベント36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010 - Glendale, AZ, United States
継続期間: 2010 11 72010 11 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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