Environmental interaction of two wheeled mobile manipulator by using reaction torque observer

P. K W Abeygunawardhana, Toshiyuki Murakami

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

18 Citations (Scopus)

Abstract

There are so many industrial manipulators which involve in lot of task in the industry. Developing the mobile manipulator will expand the operational region of the manipulator. Moreover, two wheeled mobile manipulator will further expand the task of the mobile manipulator by being able to work in limited space and so on. However good mobile manipulator should be robust against environmental disturbance. Therefore, environmental recognition of two wheeled mobile manipulator is proposed in this paper. Reaction torque observer is implemented to recognize the environmental disturbance. Compliance control is used to compensate the environmental feedback. Experiment was carried out to show the effectiveness of the proposed method.

Original languageEnglish
Title of host publicationInternational Workshop on Advanced Motion Control, AMC
Pages348-353
Number of pages6
Volume1
DOIs
Publication statusPublished - 2008
Event10th International Workshop on Advanced Motion Control, AMC'08 - Trento, Italy
Duration: 2008 Mar 262008 Mar 28

Other

Other10th International Workshop on Advanced Motion Control, AMC'08
CountryItaly
CityTrento
Period08/3/2608/3/28

Fingerprint

Mobile Manipulator
Manipulators
Torque
Observer
Interaction
Manipulator
Expand
Disturbance
Compliance control
Industrial manipulators
Compliance
Industry
Feedback
Experiment

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Computer Science Applications
  • Modelling and Simulation

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2008). Environmental interaction of two wheeled mobile manipulator by using reaction torque observer. In International Workshop on Advanced Motion Control, AMC (Vol. 1, pp. 348-353). [4516091] https://doi.org/10.1109/AMC.2008.4516091

Environmental interaction of two wheeled mobile manipulator by using reaction torque observer. / Abeygunawardhana, P. K W; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. p. 348-353 4516091.

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

Abeygunawardhana, PKW & Murakami, T 2008, Environmental interaction of two wheeled mobile manipulator by using reaction torque observer. in International Workshop on Advanced Motion Control, AMC. vol. 1, 4516091, pp. 348-353, 10th International Workshop on Advanced Motion Control, AMC'08, Trento, Italy, 08/3/26. https://doi.org/10.1109/AMC.2008.4516091
Abeygunawardhana PKW, Murakami T. Environmental interaction of two wheeled mobile manipulator by using reaction torque observer. In International Workshop on Advanced Motion Control, AMC. Vol. 1. 2008. p. 348-353. 4516091 https://doi.org/10.1109/AMC.2008.4516091
Abeygunawardhana, P. K W ; Murakami, Toshiyuki. / Environmental interaction of two wheeled mobile manipulator by using reaction torque observer. International Workshop on Advanced Motion Control, AMC. Vol. 1 2008. pp. 348-353
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