Adaptive Control for Welding Mobile Manipulator with Unknown Dimensional Parameters

Author

Phuong, Nguyen Thanh ; Duy, Vo Hoang ; Jeong, Joon Ho ; Kim, Hak Kyong ; Kim, Sang Bong

Author_Institution

Pukyong Nat. Univ., Busan

fYear

2007

fDate

8-10 May 2007

Firstpage

1

Lastpage

6

Abstract

This paper presents an adaptive tracking control method for a welding mobile manipulator with a kinematic model in which several unknown dimensional parameters exist. The mobile manipulator consists of the manipulator mounts on a mobile-platform. Based on the Lyapunov function, controllers are designed to guarantee stability of the whole system when the end-effector of the manipulator performs a welding task The update laws are also designed to estimate the unknown dimensional parameters. The simulation and experimental results are presented to show the effectiveness of the proposed controllers.

Keywords

Lyapunov methods; adaptive control; end effectors; industrial manipulators; manipulator kinematics; mobile robots; robotic welding; stability; Lyapunov function; adaptive tracking control method; end-effector; kinematic model; welding mobile manipulator; Adaptive control; Automatic control; Equations; Kinematics; Manipulator dynamics; Mechatronics; Mobile robots; Motion control; Programmable control; Welding;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics, ICM2007 4th IEEE International Conference on

Conference_Location

Kumamoto

Print_ISBN

1-4244-1183-1

Electronic_ISBN

1-4244-1184-X

Type

conf

DOI

10.1109/ICMECH.2007.4280052

Filename

4280052