A motion control for two-wheel inverted pendulum type of mobile manipulator

Toshiyuki Murakami, Koji Sasaki

研究成果: Review article査読

6 被引用数 (Scopus)

抄録

Two-wheel inverted pendulum type of mobile manipulator has no casters and it is expected that quick and robust motion may be realized according to road surface. However the dynamical behavior is so complicated from a viewpoint of motion stability. To address this issue, this paper describes a motion control strategy to realize a stable pushing operation of the two-wheel inverted pendulum type of mobile manipulator. Here the manipulator platform is considered as a passive joint and a stabilization control of the passive joint is achieved by using null space motion of the mobile manipulator. Then workspace observer is also employed to obtain the robust null space motion.The proposed approach is verified by several numerical and experimental results.

本文言語English
ページ(範囲)192-198
ページ数7
ジャーナルIEEJ Transactions on Electrical and Electronic Engineering
4
2
DOI
出版ステータスPublished - 2009 3

ASJC Scopus subject areas

  • Electrical and Electronic Engineering

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