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凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演)
http://hdl.handle.net/10110/2254
http://hdl.handle.net/10110/225427952029-ba22-4b02-9717-bc02b9202317
名前 / ファイル | ライセンス | アクション |
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JSMEAM01-207.pdf (221.5 kB)
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Item type | 会議発表論文 / Conference Paper(1) | |||||
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公開日 | 2008-02-12 | |||||
タイトル | ||||||
タイトル | 凹凸路面を走行する移動マニピュレータの運動制御 : GAを用いた路面形状推定と動力学補償法の実機による評価(G15-1 ロボットの運動解析・制御)(G15 ロボティクス・メカトロニクス部門一般講演) | |||||
言語 | ||||||
言語 | jpn | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Mobile manipulator | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Inverse dynamics compensation | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | GA | |||||
キーワード | ||||||
主題Scheme | Other | |||||
主題 | Irregular terrain | |||||
資源タイプ | ||||||
資源タイプ識別子 | http://purl.org/coar/resource_type/c_5794 | |||||
資源タイプ | conference paper | |||||
著者 |
塚田, 茂和
× 塚田, 茂和× 羽多野, 正俊× 大住, 剛× 小原, 治樹× 高瀬, 博文 |
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著者別名 | ||||||
姓名 | Tsukada, Shigekazu | |||||
著者別名 | ||||||
姓名 | Hatano, Masatoshi | |||||
著者別名 | ||||||
姓名 | Ohsumi, Tsuyoshi | |||||
著者別名 | ||||||
姓名 | Obara, Haruki | |||||
その他(別言語等)のタイトル | ||||||
その他のタイトル | Motion Control of Mobile Manipulators Traveling on Irregular Terrain : Estimation of Terrain Shapes Using GA and Evaluation of Inverse Dynamics Compensation with Experiments | |||||
抄録 | ||||||
内容記述タイプ | Abstract | |||||
内容記述 | We propose an inverse dynamics controller using the genetic algorithm (GA) for moving operations performed by a mobile manipulator traveling on unknown irregular terrain. When a mobile manipulator travels on irregular terrain, the mobile manipulator's hand is subjected to influences of disturbance torques generated by irregularities. In this paper, we developed a dynamic compensation controller using the GA and evaluated its control performance. Then, it is shown that the proposed controller can estimate a terrain shape and can decrease control errors against disturbance torques. | |||||
書誌情報 |
年次大会講演論文集 : JSME annual meeting 巻 IV, 号 01-1, p. 207-208, 発行日 2001-08 |
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書誌レコードID | ||||||
収録物識別子タイプ | NCID | |||||
収録物識別子 | AA11461871 | |||||
権利 | ||||||
権利情報 | rights: 本文データは社団法人日本機械学会の許諾に基づきCiNiiから複製したものである | |||||
フォーマット | ||||||
内容記述タイプ | Other | |||||
内容記述 | application/pdf | |||||
著者版フラグ | ||||||
出版タイプ | VoR | |||||
出版タイプResource | http://purl.org/coar/version/c_970fb48d4fbd8a85 | |||||
出版者 | ||||||
出版者 | 社団法人日本機械学会 | |||||
資源タイプ(DSpace) | ||||||
内容記述タイプ | Other | |||||
内容記述 | Article |