An adaptive based approach to improve the stability of two wheel mobile manipulator

P. K.W. Abeygunawardhana, Murakami Toshiyuki

研究成果: Conference contribution

7 被引用数 (Scopus)

抄録

Mobile manipulator with two wheel will play vital role when robot working with limited space. On the other hand, improvement of two wheel vehicle will explore the technology to improve welfare and industrial robots like wheelchair robot. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. But system error is relatively large. Although the stability improvemnt using passivity theory was reported, it was not succeed with trajectory motion. Therefore, performance improvement which will be achieved through changing the PD controler gains is proposed in this paper. Disturbance observer has been employed to cancel the disturbances.

本文言語English
ホスト出版物のタイトルProceedings of the 33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
ページ2712-2717
ページ数6
DOI
出版ステータスPublished - 2007
イベント33rd Annual Conference of the IEEE Industrial Electronics Society, IECON - Taipei, Taiwan, Province of China
継続期間: 2007 11月 52007 11月 8

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other33rd Annual Conference of the IEEE Industrial Electronics Society, IECON
国/地域Taiwan, Province of China
CityTaipei
Period07/11/507/11/8

ASJC Scopus subject areas

  • 制御およびシステム工学
  • 電子工学および電気工学

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