An adaptive based approach to improve the stability of two wheel mobile manipulator

P. K W Abeygunawardhana, Toshiyuki Murakami

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

5 Citations (Scopus)

Abstract

Mobile manipulator with two wheel will play vital role when robot working with limited space. On the other hand, improvement of two wheel vehicle will explore the technology to improve welfare and industrial robots like wheelchair robot. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. But system error is relatively large. Although the stability improvemnt using passivity theory was reported, it was not succeed with trajectory motion. Therefore, performance improvement which will be achieved through changing the PD controler gains is proposed in this paper. Disturbance observer has been employed to cancel the disturbances.

Original languageEnglish
Title of host publicationIECON Proceedings (Industrial Electronics Conference)
Pages2712-2717
Number of pages6
DOIs
Publication statusPublished - 2007
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
CountryTaiwan, Province of China
CityTaipei
Period07/11/507/11/8

Fingerprint

Manipulators
Wheels
Vehicle wheels
Robots
Wheelchairs
Industrial robots
Pendulums
Trajectories

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2007). An adaptive based approach to improve the stability of two wheel mobile manipulator. In IECON Proceedings (Industrial Electronics Conference) (pp. 2712-2717). [4460292] https://doi.org/10.1109/IECON.2007.4460292

An adaptive based approach to improve the stability of two wheel mobile manipulator. / Abeygunawardhana, P. K W; Murakami, Toshiyuki.

IECON Proceedings (Industrial Electronics Conference). 2007. p. 2712-2717 4460292.

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

Abeygunawardhana, PKW & Murakami, T 2007, An adaptive based approach to improve the stability of two wheel mobile manipulator. in IECON Proceedings (Industrial Electronics Conference)., 4460292, pp. 2712-2717, 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON, Taipei, Taiwan, Province of China, 07/11/5. https://doi.org/10.1109/IECON.2007.4460292
Abeygunawardhana PKW, Murakami T. An adaptive based approach to improve the stability of two wheel mobile manipulator. In IECON Proceedings (Industrial Electronics Conference). 2007. p. 2712-2717. 4460292 https://doi.org/10.1109/IECON.2007.4460292
Abeygunawardhana, P. K W ; Murakami, Toshiyuki. / An adaptive based approach to improve the stability of two wheel mobile manipulator. IECON Proceedings (Industrial Electronics Conference). 2007. pp. 2712-2717
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