Position/Orientation Measurement of Mobile Manipu1ator on Irregular Terrain with Solid Mark-Proposal of Solving Method by Recursive Computation and Eva1uations-

摘要

This research is concerned with a control method to pile up blocks by a mobile manipulator. One of problems to pile up bloeks by the mobile manipulator is errors between the desired position/orientation and the actual ones of the mobile manipulator, especially. when the mobile manipulator travels on irregular terrains. The errors disturb correct construction of piling up blocks. The purpose of this resrarch is to make the mobile manipulator syste which can bulid a fance being composed of the blocks as an example of constructing a huge structure.In this paper, a new recognition method to detect the position/orientation errors of the mobile manipulator on the irregular terrain using a hand-eye camera and 3-D landmark is proposed. First, the Kinematical formulation of the mobile manipulator and the landmark is proposed. Second. the hqnd-eye system is constructed to recognized to the position and orientation errors. Third, repetitive calculation method to detect the 3-D position/orientation errors is proposed. Finally. the proposed system is evaluated by simulation experiments.