ころがり抵抗を考慮した斜面を走行する移動マニピュレータの重力補償

抄録

Several papers focused on mobile manipulators have been already presented, but those researches assume that the robots move on a horizontal floor, and the papers do not argue disturbances which gravity gives to each joint axis including driving axis of the mobile manipulator. The influences of gravity generate directly undesirable torques around each joint axis of the mobile manipulator, and indirectly rolling resistances which are determined by the inclined angle of the slope and the figure of the mobile manipulator on the slope. For correct guidance of the mobile robot and controlling the mounted manipulator in such situation, those gravity influences would be better to be removed. This paper analyzes the dynamics of the mobile manipulator on a slope, and presents a compensation method to remove the gravity disturbances of the mobile manipulator.