Workspace control of two wheel mobile manipulator by resonance ratio control

P. K W Abeygunawardhana, Toshiyuki Murakami

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

2 Citations (Scopus)

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 at work 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 publicationIEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM
Pages1270-1275
Number of pages6
DOIs
Publication statusPublished - 2009
Event2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
Duration: 2009 Jul 142009 Jul 17

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
CountrySingapore
CitySingapore
Period09/7/1409/7/17

Fingerprint

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

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Control and Systems Engineering
  • Computer Science Applications
  • Software

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2009). Workspace control of two wheel mobile manipulator by resonance ratio control. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM (pp. 1270-1275). [5229815] https://doi.org/10.1109/AIM.2009.5229815

Workspace control of two wheel mobile manipulator by resonance ratio control. / Abeygunawardhana, P. K W; Murakami, Toshiyuki.

IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 1270-1275 5229815.

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

Abeygunawardhana, PKW & Murakami, T 2009, Workspace control of two wheel mobile manipulator by resonance ratio control. in IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM., 5229815, pp. 1270-1275, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5229815
Abeygunawardhana PKW, Murakami T. Workspace control of two wheel mobile manipulator by resonance ratio control. In IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. p. 1270-1275. 5229815 https://doi.org/10.1109/AIM.2009.5229815
Abeygunawardhana, P. K W ; Murakami, Toshiyuki. / Workspace control of two wheel mobile manipulator by resonance ratio control. IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. 2009. pp. 1270-1275
@inproceedings{1c6a561505cb4e54acfd4539ff282d07,
title = "Workspace control of two wheel mobile manipulator by resonance ratio control",
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 at work 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.",
keywords = "Acceleration control, Resonance ratio control, Two wheel mobile manipulator, Vibration suppression control",
author = "Abeygunawardhana, {P. K W} and Toshiyuki Murakami",
year = "2009",
doi = "10.1109/AIM.2009.5229815",
language = "English",
isbn = "9781424428533",
pages = "1270--1275",
booktitle = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

}

TY - GEN

T1 - Workspace control of two wheel mobile manipulator by resonance ratio control

AU - Abeygunawardhana, P. K W

AU - Murakami, Toshiyuki

PY - 2009

Y1 - 2009

N2 - 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 at work 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.

AB - 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 at work 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.

KW - Acceleration control

KW - Resonance ratio control

KW - Two wheel mobile manipulator

KW - Vibration suppression control

UR - http://www.scopus.com/inward/record.url?scp=70350440294&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350440294&partnerID=8YFLogxK

U2 - 10.1109/AIM.2009.5229815

DO - 10.1109/AIM.2009.5229815

M3 - Conference contribution

SN - 9781424428533

SP - 1270

EP - 1275

BT - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

ER -