Vibration suppression of two wheel mobile manipulator using resonance ratio control

P. K W Abeygunawardhana, Toshiyuki Murakami

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

Abstract

Two wheel mobile manipulator has the potential of becoming a multi-skilled robot in the field of robotics and it is already implemented by using inverted pendulum control. Centre of gravity position (COG) is controlled to achieve the balancing of robot. Since vibration of manipulator arms affect to the COG positions of the inverted pendulum, balancing of the robot deteriorates. Therefore, vibration control of manipulator arms of the mobile manipulator is proposed in this paper. Feedback signal for vibration suppression is introduced to null space of manipulator. Simulation and experiment was carried out to check the validity of the proposed method and the results prove the effectiveness of the proposed method.

Original languageEnglish
Title of host publication15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Pages385-390
Number of pages6
DOIs
Publication statusPublished - 2008
Event15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand
Duration: 2008 Dec 22008 Dec 4

Other

Other15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
CountryNew Zealand
CityAuckland
Period08/12/208/12/4

Fingerprint

Vibrations (mechanical)
Manipulators
Wheels
Robots
Pendulums
Gravitation
Vibration control
Robotics
Feedback
Experiments

Keywords

  • Acceleration control
  • Null space
  • Resonance ratio control
  • Two wheel mobile manipulator
  • Vibration suppression control

ASJC Scopus subject areas

  • Computer Vision and Pattern Recognition
  • Control and Systems Engineering
  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2008). Vibration suppression of two wheel mobile manipulator using resonance ratio control. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 (pp. 385-390). [4749564] https://doi.org/10.1109/MMVIP.2008.4749564

Vibration suppression of two wheel mobile manipulator using resonance ratio control. / Abeygunawardhana, P. K W; Murakami, Toshiyuki.

15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 385-390 4749564.

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

Abeygunawardhana, PKW & Murakami, T 2008, Vibration suppression of two wheel mobile manipulator using resonance ratio control. in 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08., 4749564, pp. 385-390, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, Auckland, New Zealand, 08/12/2. https://doi.org/10.1109/MMVIP.2008.4749564
Abeygunawardhana PKW, Murakami T. Vibration suppression of two wheel mobile manipulator using resonance ratio control. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 385-390. 4749564 https://doi.org/10.1109/MMVIP.2008.4749564
Abeygunawardhana, P. K W ; Murakami, Toshiyuki. / Vibration suppression of two wheel mobile manipulator using resonance ratio control. 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. pp. 385-390
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