Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation

Cihan Acar, Toshiyuki Murakami

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

9 Citations (Scopus)

Abstract

Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center of Gravity) manipulation of manipulator while keeping the stability of passive joint with backstepping method. In order to move wheels to desired position, inverted pendulum model is utilized to control the center of gravity position of manipulator. The trajectory of CoG is obtained by using the optimal linear quadratic method, which provides smooth CoG pattern motion. The preview control structure is utilized to improve the transient response and compensate the delay between input reference and output of wheels. The validity of proposed method is verified by simulation results.

Original languageEnglish
Title of host publicationAMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings
Pages715-720
Number of pages6
DOIs
Publication statusPublished - 2010 Jun 25
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Publication series

NameInternational Workshop on Advanced Motion Control, AMC

Other

Other2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010
CountryJapan
CityNagaoka, Niigata
Period10/3/2110/3/24

ASJC Scopus subject areas

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

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  • Cite this

    Acar, C., & Murakami, T. (2010). Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation. In AMC2010 - The 11th IEEE International Workshop on Advanced Motion Control, Proceedings (pp. 715-720). [5464042] (International Workshop on Advanced Motion Control, AMC). https://doi.org/10.1109/AMC.2010.5464042