TY - GEN
T1 - Stability improvement of two wheel mobile manipulator by real time gain control technique
AU - Abeygunawardhana, P. K.W.
AU - Toshiyuki, Murakami
PY - 2007
Y1 - 2007
N2 - Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. Disturbance observer has been employed to cancel the disturbances.
AB - Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. Disturbance observer has been employed to cancel the disturbances.
KW - Acceleration control
KW - Control of PD controller gains
KW - Disturbance observer
KW - Double inverted pendulum
KW - Inverted pendulum
KW - Mobile manipulator
KW - Two wheeled mobile robot
UR - http://www.scopus.com/inward/record.url?scp=51549088586&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=51549088586&partnerID=8YFLogxK
U2 - 10.1109/ICIINFS.2007.4579152
DO - 10.1109/ICIINFS.2007.4579152
M3 - Conference contribution
AN - SCOPUS:51549088586
SN - 1424411521
SN - 9781424411528
T3 - ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
SP - 79
EP - 84
BT - ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
T2 - ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
Y2 - 9 August 2007 through 11 August 2007
ER -