Vibration suppression of two wheel mobile manipulator using resonance ratio control

P. K.W. Abeygunawardhana; Toshiyuki Murakami

doi:10.1109/MMVIP.2008.4749564

Vibration suppression of two wheel mobile manipulator using resonance ratio control

P. K.W. Abeygunawardhana, Toshiyuki Murakami

Department of System Design Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

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.

Original language	English
Title of host publication	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Pages	385-390
Number of pages	6
DOIs	https://doi.org/10.1109/MMVIP.2008.4749564
Publication status	Published - 2008
Event	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 - Auckland, New Zealand Duration: 2008 Dec 2 → 2008 Dec 4

Publication series

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

Other

Other	15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08
Country/Territory	New Zealand
City	Auckland
Period	08/12/2 → 08/12/4

Keywords

Acceleration control
Null space
Resonance ratio control
Two wheel mobile manipulator
Vibration suppression control

ASJC Scopus subject areas

Computer Vision and Pattern Recognition
Control and Systems Engineering
Electrical and Electronic Engineering
Mechanical Engineering

Access to Document

10.1109/MMVIP.2008.4749564

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2008). Vibration suppression of two wheel mobile manipulator using resonance ratio control. In 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08 (pp. 385-390). Article 4749564 (15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08). https://doi.org/10.1109/MMVIP.2008.4749564

Vibration suppression of two wheel mobile manipulator using resonance ratio control. / Abeygunawardhana, P. K.W.; Murakami, Toshiyuki.
15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08. 2008. p. 385-390 4749564 (15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abeygunawardhana, PKW & Murakami, T 2008, Vibration suppression of two wheel mobile manipulator using resonance ratio control. in 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08., 4749564, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, pp. 385-390, 15th International Conference on Mechatronics and Machine Vision in Practice, M2VIP'08, Auckland, New Zealand, 08/12/2. https://doi.org/10.1109/MMVIP.2008.4749564

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abstract = "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.",

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AB - 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.

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Vibration suppression of two wheel mobile manipulator using resonance ratio control

Abstract

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Keywords

ASJC Scopus subject areas

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