Workspace control of two wheel mobile manipulator by resonance ratio control

P. K.W. Abeygunawardhana, Toshiyuki Murakami

研究成果: Conference contribution

2 被引用数 (Scopus)

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 at work 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2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
ページ1270-1275
ページ数6
DOI
出版ステータスPublished - 2009
イベント2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore
継続期間: 2009 7 142009 7 17

出版物シリーズ

名前IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

Other

Other2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
国/地域Singapore
CitySingapore
Period09/7/1409/7/17

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ サイエンスの応用
  • 電子工学および電気工学

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