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

P. K W Abeygunawardhana, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish
Title of host publicationICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
Pages79-84
Number of pages6
DOIs
Publication statusPublished - 2007
EventICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007 - Peradeniya, Sri Lanka
Duration: 2007 Aug 92007 Aug 11

Other

OtherICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
CountrySri Lanka
CityPeradeniya
Period07/8/907/8/11

Fingerprint

Gain control
Real time control
Manipulators
Wheels
Robots
Wheelchairs
Industrial robots
Pendulums
Trajectories
Controllers
Industry

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., & Murakami, T. (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] 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; Murakami, Toshiyuki.

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

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

Abeygunawardhana, PKW & Murakami, T 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, 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, Murakami T. 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 https://doi.org/10.1109/ICIINFS.2007.4579152
Abeygunawardhana, P. K W ; Murakami, Toshiyuki. / 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
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