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

Yusuke Fujimoto, Toshiyuki Murakami

研究成果: Conference contribution

6 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
ページ732-737
ページ数6
DOI
出版ステータスPublished - 2010 6 25
イベント2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
継続期間: 2010 3 212010 3 24

出版物シリーズ

名前International 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

ASJC Scopus subject areas

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

フィンガープリント 「Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル