Mobile operations performed by mobile manipulators on irregular terrain: Torque compensation using neural networks for disturbance torques produced by irregular terrain

摘要

In the present study, we propose a control system for mobile operations of mobile manipulators traveling on irregular terrain. Irregularities exist even in structures such as man-made floors of factories and buildings. Since the hand of a mobilemanipulator is often required to operate precisely while traveling on irregular terrain and it is subject to disturbance torques caused by traveling on terrain, a method for decreasing control errors caused by disturbances due to terrain must beconsidered. In the present paper, an adaptive control system including a compensator that uses a neural network, i.e., a neuro adaptive control system, is proposed. In addition, we discuss the control performance of the proposed control system, and showthat the control system can decrease control errors occurring on irregular terrain to the levels of errors that occur while traveling on a horizontal plane.