Title :
Stability improvement of two wheel mobile manipulator by real time gain control technique
Author :
Abeygunawardhana, P. K W ; Toshiyuki, Murakami
Author_Institution :
Dept. of Integrated Design Eng., Keio Univ., Yokohama
Abstract :
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.
Keywords :
gain control; manipulators; mobile robots; nonlinear control systems; position control; stability; disturbance observer; dynamic stability; gain control; inverted pendulum control; robot parameter; trajectory error; two wheeled mobile manipulator; two wheeled vehicle; Aerospace industry; Gain control; Manipulators; Mobile robots; Orbital robotics; Service robots; Space technology; Stability; Vehicles; Wheels; Acceleration control; Control of PD controller gains; Disturbance observer; Double inverted pendulum; Inverted pendulum; Mobile manipulator; Two wheeled mobile robot;
Conference_Titel :
Industrial and Information Systems, 2007. ICIIS 2007. International Conference on
Conference_Location :
Penadeniya
Print_ISBN :
978-1-4244-1151-1
Electronic_ISBN :
978-1-4244-1152-8
DOI :
10.1109/ICIINFS.2007.4579152
