Influences of Disturbance Torques Exerting On Mobile Manipulators Traveling On Irregular Terrain.
نویسندگان
چکیده
منابع مشابه
Robust Decoupling Control for Mobile Manipulators Based on Disturbance Observer
This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...
متن کاملEffects of Flight Dynamics on Performance of One Axis Gimbal System, Considering Disturbance Torques
The gimbal stabilization mechanism system is used to provide the stability to an object mounted on the gimbal by isolating it from the base angular motion and vibration. In this paper the model of one axis gimbal system with dynamics flying object is introduced. The gimbal torque relationships are obtained using Newton’s second law equation on the assumption that gimbal is rigid body. The syste...
متن کاملMaximum Allowable Load On Wheeled Mobile Manipulators (RESEARCH NOTE)
This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...
متن کاملOn Tracking Control of Mobile Manipulators
This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat 's lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired traje...
متن کاملOn the Dynamic Stability of Mobile Manipulators
Dynamic stability is an important issue for vehicles which move heavy loads, turn at speed, or operate on sloped terrain. In many cases, vehicles face more than one of these challenges simultaneously. This paper presents a methodology for deriving and reacting to proximity to tipover for autononmous field robots which must be productive, effective, and self reliant under such challenging circum...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Journal of the Robotics Society of Japan
سال: 2002
ISSN: 0289-1824,1884-7145
DOI: 10.7210/jrsj.20.883