DocumentCode :
2942222
Title :
Robust Compensation Control of Mobile Manipulator Service Robot
Author :
Bu Chi-wu ; Zhang Li-xun
Author_Institution :
Coll. of Light Ind., Harbin Univ. of Commerce, Harbin, China
Volume :
1
fYear :
2009
fDate :
11-12 April 2009
Firstpage :
860
Lastpage :
864
Abstract :
A robust compensation control is proposed as an approach for the robust motion control of a mobile manipulator service robot comprising a mobile platform with a two-link arm mounted on top of the platform. Considering the coupling disturbance between the platform and the manipulator, nominal model of service robot is built, computed torque and proportion-differential (PD) feedback control method is presented, non-linear feedback is used to decouple the control system. Aiming at the modeling uncertainty and existing uncertainties disturbances, compensation is adopted for the built control law. Lyapunov method is adopted to determine the compensation item, and by these, the robust motion control of the mobile manipulator service robot is realized. Simulation experiment had been done for the mobile platform and the manipulator, experiment results show that,the presented control method can realize the robust control of mobile manipulator service robot, and thus show the effectiveness and correctness of the designed controller.
Keywords :
Lyapunov methods; PD control; compensation; control system synthesis; feedback; manipulators; mobile robots; motion control; robust control; service robots; torque control; Lyapunov method; mobile manipulator service robot; nonlinear feedback; proportion-differential feedback control method; robust compensation control; robust motion control; torque control method; Control system synthesis; Feedback control; Manipulators; Motion control; Nonlinear control systems; PD control; Robust control; Service robots; Torque control; Uncertainty;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Measuring Technology and Mechatronics Automation, 2009. ICMTMA '09. International Conference on
Conference_Location :
Zhangjiajie, Hunan
Print_ISBN :
978-0-7695-3583-8
Type :
conf
DOI :
10.1109/ICMTMA.2009.54
Filename :
5203106
Link To Document :
بازگشت