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.

元の言語English
ホスト出版物のタイトルIECON Proceedings (Industrial Electronics Conference)
ページ1447-1452
ページ数6
DOI
出版物ステータスPublished - 2010
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

Other

Other36th Annual Conference of the IEEE Industrial Electronics Society, IECON 2010
United States
Glendale, AZ
期間10/11/710/11/10

Fingerprint

Compliance control
Manipulators
Wheelchairs
Trajectories
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

これを引用

Fujimoto, Y., & Murakami, T. (2010). An improvement method of compliance control in pushing operation by mobile manipulator. : 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.

研究成果: Conference contribution

Fujimoto, Y & Murakami, T 2010, An improvement method of compliance control in pushing operation by mobile manipulator. : 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. : 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
@inproceedings{4a8b70e3d38748be95597a44dbcf304c,
title = "An improvement method of compliance control in pushing operation by mobile manipulator",
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.",
keywords = "Compliance control, Dual armed mobile manipulator, Pushing operation, Stability, Tracking performance",
author = "Yusuke Fujimoto and Toshiyuki Murakami",
year = "2010",
doi = "10.1109/IECON.2010.5675469",
language = "English",
isbn = "9781424452262",
pages = "1447--1452",
booktitle = "IECON Proceedings (Industrial Electronics Conference)",

}

TY - GEN

T1 - An improvement method of compliance control in pushing operation by mobile manipulator

AU - Fujimoto, Yusuke

AU - Murakami, Toshiyuki

PY - 2010

Y1 - 2010

N2 - 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.

AB - 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.

KW - Compliance control

KW - Dual armed mobile manipulator

KW - Pushing operation

KW - Stability

KW - Tracking performance

UR - http://www.scopus.com/inward/record.url?scp=78751475568&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=78751475568&partnerID=8YFLogxK

U2 - 10.1109/IECON.2010.5675469

DO - 10.1109/IECON.2010.5675469

M3 - Conference contribution

AN - SCOPUS:78751475568

SN - 9781424452262

SP - 1447

EP - 1452

BT - IECON Proceedings (Industrial Electronics Conference)

ER -