A Proposal of Inverse Dynamics Compensation Method for PWS (omit type) Mobile Manipulators

Manipulators which can move by itself are called “Mobile Manipulators”. In this paper we propose a calculation method of inverse dynamics compensation for a power wheeled-steering (PWS) mobile manipulator. The Newton-Euler method is used for the compensation calculation. The mobile manipulator has a different characteristic from a floor-fixed manipulator in that it moves according to nonholonomic constraints. The constraints integrate velocity and angular velocity errors of the mobile manipulator on a floor, then 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 has settled. Therefore, to reduce the integrating errors, the velocity errors of the mobile manipulator should be reduced. We propose a method of inverse dynamics compensation, and comfirm the effects by simulation experiments.