Inverse Dynamics Compensation Method for PWS Mobile Manipulators

Abstract

A robot system composed of a mobile robot and a manipulator is called a "mobile manipulator". In this paper a calculation method of inverse dynamics compensation for a power-wheeled-steering(PWS)mobile manipulator is proposed. Newton-Euler method is used for the compensation calculation. A mobile manipulator dirrers from a floor-fixed manipulator in that it moves according to non-holonomic constraints. As the constraints integrate velocity and angular velocity errors of the mobile manipulator on a floor, the errors influence the hand position and orientation of the mounted manipulator. The integrated errors do not disappear even after the dynamical vibration of the mobile manipulator is settled. Therefore, to reduce the integrated errors, the velocity errors of the mobile manipulator should be reduced. We propose a calculation method, and the effects of the method are confirmed by simulation experiments.