A null space control of two wheels driven mobile manipulator using passivity theory

Tsuyoshi Shibata, Toshiyuki Murakami

研究成果: Article査読

3 被引用数 (Scopus)

抄録

This paper describes a control strategy of null space motion of a two wheels driven mobile manipulator. Recently, robot is utilized in various industrial fields and it is preferable for the robot manipulator to have multiple degrees of freedom motion. Several studies of kinematics for null space motion have been proposed. However stability analysis of null space motion is not enough. Furthermore, these approaches apply to stable systems, but they do not apply unstable systems. Then, in this research, base of manipulator equips with two wheels driven mobile robot. This robot is called two wheels driven mobile manipulator, which becomes unstable system. In the proposed approach, a control design of null space uses passivity based stabilizing. A proposed controller is decided so that closed-loop system of robot dynamics satisfies passivity. This is passivity based control. Then, control strategy is that stabilizing of the robot system applies to work space observer based approach and null space control while keeping end-effector position. The validity of the proposed approach is verified by simulations and experiments of two wheels driven mobile manipulator.

本文言語English
ページ(範囲)1109-1116
ページ数8
ジャーナルieej transactions on industry applications
127
11
DOI
出版ステータスPublished - 2007

ASJC Scopus subject areas

  • 産業および生産工学
  • 電子工学および電気工学

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