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 publicationInternational Workshop on Advanced Motion Control, AMC
Pages715-720
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010 - Nagaoka, Niigata, Japan
Duration: 2010 Mar 212010 Mar 24

Other

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

Fingerprint

Mobile Manipulator
Centre of gravity
Motion Control
Motion control
Wheel
Manipulators
Manipulation
Wheels
Gravitation
Manipulator
Inverted Pendulum
Backstepping
Motion
Transient Response
Pendulums
Transient analysis
Actuator
Actuators
Degree of freedom
Trajectories

ASJC Scopus subject areas

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

Cite this

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

Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation. / Acar, Cihan; Murakami, Toshiyuki.

International Workshop on Advanced Motion Control, AMC. 2010. p. 715-720 5464042.

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

Acar, C & Murakami, T 2010, Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation. in International Workshop on Advanced Motion Control, AMC., 5464042, pp. 715-720, 2010 11th IEEE International Workshop on Advanced Motion Control, AMC2010, Nagaoka, Niigata, Japan, 10/3/21. https://doi.org/10.1109/AMC.2010.5464042
Acar, Cihan ; Murakami, Toshiyuki. / Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation. International Workshop on Advanced Motion Control, AMC. 2010. pp. 715-720
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