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

P. K.W. Abeygunawardhana, Murakami Toshiyuki

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 publicationProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
Pages2712-2717
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Event33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
Duration: 2007 Nov 52007 Nov 8

Publication series

NameIECON Proceedings (Industrial Electronics Conference)

Other

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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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