INVERSE DYNAMICS COMPENSATION METHOD FOR PWS MOBILE MANIPULATORS

A robot system composed of a mobile robot and a manipulator is called a ''mobile manipulator''. In this paper a calculation method of invers e dynamics compensation for a power-wheeled-steering (PWS) mobile mani pulator is proposed. Newton-Euler method is used for the compensation calculation. A mobile manipulator differs from a floor-fixed manipulat or in that it moves according to non-holonomic constraints. As the con straints integrate velocity and angular velocity errors of the mobile manipulator on a floor, the errors influence the hand position and ori entation of the mounted manipulator. The integrated errors do not disa ppear even after the dynamical vibration of the mobile manipulator is settled. Therefore, to reduce the integrated errors, the velocity erro rs of the mobile manipulator should be reduced. We propose a calculati on method, and the effects of the method are confirmed by simulation e xperiments.