抄録
This paper is concerned with quantitative evaluation of disturbance torques caused by irregular terrain when a mobile manipulator travels on the terrain. Mobile manipulators can improve their work efficiencies by performing moving operations. However, disturbances generated from terrain disturb correct moving operations because irregularities exist even on a man-made floor. When the mobile manipulator travels on irregular terrain, disturbance torques are induced by inertial forces, centrifugal and Coriolis forces and gravitational forces, respectively. Although the influences can not be ignored for correct operations, such problems have not been discussed. Then, we have proposed the model of a dynamic mobile manipulator traveling on irregular terrain in the vertical plane. In this paper, we clarified relationships between disturbance torques caused from irregular terrain, the amplitudes of terrain, traveling speeds and terrain shapes. First, the calculation method of disturbance torques are defined based on the proposed model. Second, simulations in which the mobile manipulator travels on the simple cosine shape are performed. Third, changes in disturbance torques in case that the mobile manipulator travels on the two different shapes of terrain are discussed. Finally, dominant disturbance torques caused from terrain are clarified quantitatively.
