Vibration suppression of two wheel mobile manipulator using resonance ratio control

P. K.W. Abeygunawardhana, Toshiyuki Murakami

研究成果: Conference contribution

抄録

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 to null 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.

本文言語English
ホスト出版物のタイトル15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
ページ385-390
ページ数6
DOI
出版ステータスPublished - 2008
イベント15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand
継続期間: 2008 12 22008 12 4

出版物シリーズ

名前15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08

Other

Other15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
国/地域New Zealand
CityAuckland
Period08/12/208/12/4

ASJC Scopus subject areas

  • コンピュータ ビジョンおよびパターン認識
  • 制御およびシステム工学
  • 電子工学および電気工学
  • 機械工学

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