A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics

Kyohei Umemoto, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

This paper proposes a method for tracking control of underactuated system such as two wheel mobile manipulator based on zero dynamics. This proposal makes it possible to control mobile platform position independently while stabilizing COG and servoing end-effector position, although mobile platform position depends on other control task in conventional methods.

Original languageEnglish
Title of host publicationProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
Pages2638-2643
Number of pages6
DOIs
Publication statusPublished - 2012 Dec 1
Event38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
Duration: 2012 Oct 252012 Oct 28

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

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Keywords

  • Mobile Manipulator
  • Torque Constraint Based Control
  • Trajectory Planning
  • Underactuated Mechanism
  • Zero Dynamics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Umemoto, K., & Murakami, T. (2012). A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics. In Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society (pp. 2638-2643). [6389160] (IECON Proceedings (Industrial Electronics Conference)). https://doi.org/10.1109/IECON.2012.6389160