Stability improvement of two wheel mobile manipulator by real time gain control technique

P. K.W. Abeygunawardhana; Murakami Toshiyuki

doi:10.1109/ICIINFS.2007.4579152

Stability improvement of two wheel mobile manipulator by real time gain control technique

P. K.W. Abeygunawardhana, Murakami Toshiyuki

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

3 Citations (Scopus)

Abstract

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.

Original language	English
Title of host publication	ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
Pages	79-84
Number of pages	6
DOIs	https://doi.org/10.1109/ICIINFS.2007.4579152
Publication status	Published - 2007 Dec 1
Event	ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007 - Peradeniya, Sri Lanka Duration: 2007 Aug 9 → 2007 Aug 11

Publication series

Name	ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings

Other

Other	ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
Country	Sri Lanka
City	Peradeniya
Period	07/8/9 → 07/8/11

Fingerprint

Keywords

Acceleration control
Control of PD controller gains
Disturbance observer
Double inverted pendulum
Inverted pendulum
Mobile manipulator
Two wheeled mobile robot

ASJC Scopus subject areas

Information Systems
Industrial and Manufacturing Engineering

Cite this

Abeygunawardhana, P. K. W., & Toshiyuki, M. (2007). Stability improvement of two wheel mobile manipulator by real time gain control technique. In ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings (pp. 79-84). [4579152] (ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings). https://doi.org/10.1109/ICIINFS.2007.4579152

Stability improvement of two wheel mobile manipulator by real time gain control technique. / Abeygunawardhana, P. K.W.; Toshiyuki, Murakami.

ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings. 2007. p. 79-84 4579152 (ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abeygunawardhana, PKW & Toshiyuki, M 2007, Stability improvement of two wheel mobile manipulator by real time gain control technique. in ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings., 4579152, ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings, pp. 79-84, ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Peradeniya, Sri Lanka, 07/8/9. https://doi.org/10.1109/ICIINFS.2007.4579152

Abeygunawardhana PKW, Toshiyuki M. Stability improvement of two wheel mobile manipulator by real time gain control technique. In ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings. 2007. p. 79-84. 4579152. (ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings). https://doi.org/10.1109/ICIINFS.2007.4579152

Abeygunawardhana, P. K.W. ; Toshiyuki, Murakami. / Stability improvement of two wheel mobile manipulator by real time gain control technique. ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings. 2007. pp. 79-84 (ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings).

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Access to Document

10.1109/ICIINFS.2007.4579152