TY - GEN
T1 - Realization of wheelchair pushing operation considering high tracking performance and ride quality improvement by mobile manipulator
AU - Fujimoto, Yusuke
AU - Murakami, Toshiyuki
PY - 2010/6/25
Y1 - 2010/6/25
N2 - 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.
AB - 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.
KW - Capacity error
KW - Dual armed mobile manipulator
KW - Pushing operation
KW - Ride quality
KW - Trajectory tracking
UR - http://www.scopus.com/inward/record.url?scp=77953789663&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=77953789663&partnerID=8YFLogxK
U2 - 10.1109/AMC.2010.5464037
DO - 10.1109/AMC.2010.5464037
M3 - Conference contribution
AN - SCOPUS:77953789663
SN - 9781424466696
T3 - International Workshop on Advanced Motion Control, AMC
SP - 732
EP - 737
BT - AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
T2 - 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
Y2 - 21 March 2010 through 24 March 2010
ER -