A null space control of two wheels driven mobile manipulator using passivity theory

Tsuyoshi Shibata, Toshiyuki Murakami

Research output: Contribution to journalArticle

3 Citations (Scopus)

Abstract

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

Original languageEnglish
Pages (from-to)1109-1116+1
Journalieej transactions on industry applications
Volume127
Issue number11
DOIs
Publication statusPublished - 2007 Dec 1

Keywords

  • Mobile manipulator
  • Motion control
  • Null space
  • Passivity
  • Redundant manipulator
  • Work space observer

ASJC Scopus subject areas

  • Industrial and Manufacturing Engineering
  • Electrical and Electronic Engineering

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