Stability improvement of two wheel mobile manipulator by real time gain control technique

P. K.W. Abeygunawardhana, Murakami Toshiyuki

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. 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ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings
ページ79-84
ページ数6
DOI
出版ステータスPublished - 2007
イベントICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007 - Peradeniya, Sri Lanka
継続期間: 2007 8 92007 8 11

出版物シリーズ

名前ICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007, Conference Proceedings

Other

OtherICIIS 2007 - 2nd International Conference on Industrial and Information Systems 2007
国/地域Sri Lanka
CityPeradeniya
Period07/8/907/8/11

ASJC Scopus subject areas

  • 情報システム
  • 産業および生産工学

フィンガープリント

「Stability improvement of two wheel mobile manipulator by real time gain control technique」の研究トピックを掘り下げます。これらがまとまってユニークなフィンガープリントを構成します。

引用スタイル