移動マニピュレータの未知凹凸路面走行時における軌道追従制御性能の改善

―学習的手法を用いた路面形状同定とトルク補償―

抄録

This paper is concerned with a method of identification of terrain shape and torque compensation using inverse model and a learning method for moving operations of mobile manipulators traveling on unknown irregular terrain. When the mobile manipulator operates during traveling on irregular terrain whose shape is unknown, the hand motion of the mobile manipulator is influenced by the terrain dynamically and kinematically. Therefore, both of dynamical and kinematical compensations are required so as to perform accurate operations for an object in the external world. In this paper, a new compensation method using a learning method is proposed. First, the validity of the proposed model is conformed to simulate the real model motion by comparing experiment and simulation results. Second, it is shown that influences of dynamical disturbance torques occur when the mobile manipulator travels fast on irregular terrain. Third, a torque compensator using GA (Genetic Algorithm) is proposed by referring the inverse model of the mobile manipulator. Finally, it is clarified that the proposed compensator can improve trajectory-tracking control performance by identifying unknown irregular terrain shape and performing torque compensations.