Pushing operation in variable compliance control according to estimated road friction

Ken'Ichiro Murai, Toshiyuki Murakami

研究成果: Conference contribution

抄録

In this paper, a control method for pushing operation by a mobile manipulator with dual arms is proposed. The mobile manipulator is able to perform various tasks because of mobility of a platform and manipulability of dual arms. This research focuses on pushing operation in human environments. Important factors in pushing operation are safety and configuration of operational object. In conventional research, compliance control was applied for safety because compliance control enables robots to contact compliantly. However, application of compliance control to robot with dual arms has room for improvements in stability of configuration when bias of road friction distribution exists. This research realizes stable configuration for operational object by varying compliance gains of each arm according to estimated road friction force by Extended Kalman filter. The validity of proposed method is verified by the simulation results.

本文言語English
ホスト出版物のタイトルProceedings
ホスト出版物のサブタイトルIECON 2011 - 37th Annual Conference of the IEEE Industrial Electronics Society
ページ4290-4295
ページ数6
DOI
出版ステータスPublished - 2011 12月 1
イベント37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011 - Melbourne, VIC, Australia
継続期間: 2011 11月 72011 11月 10

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other37th Annual Conference of the IEEE Industrial Electronics Society, IECON 2011
国/地域Australia
CityMelbourne, VIC
Period11/11/711/11/10

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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