Motion control of mobile manipulators traveling on irregular terrain dentification of shape of terrain using GA and inverse dynamics compensation

This paper deals with the estimation of terrain shape using genetic algorithm (GA) and inverse dynamics compensation for a mobile manipulator travelling on irregular terrain. Dynamical and kinematical compensation methods must be performed simultaneously for operating objects in the external world while the mobile manipulator is travelling on an irregular terrain. In this paper, a new compensation method using GA is proposed. Coordinate transformations are done, an inverse dynamics controller is constructed, and an estimation method using GA is proposed. Finally, it is shown that the proposed controller can estimate terrain shape and can reduce the control errors that occur when the mobile manipulator is travelling on an irregular terrain to levels of errors that occur when the mobile manipulator travels on a horizontal plane.