Workspace control of two wheel mobile manipulator by resonance ratio control

P. K.W. Abeygunawardhana; Toshiyuki Murakami

doi:10.1109/AIM.2009.5229815

Workspace control of two wheel mobile manipulator by resonance ratio control

P. K.W. Abeygunawardhana, Toshiyuki Murakami

Department of System Design Engineering

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

2 Citations (Scopus)

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 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.

Original language	English
Title of host publication	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Pages	1270-1275
Number of pages	6
DOIs	https://doi.org/10.1109/AIM.2009.5229815
Publication status	Published - 2009
Event	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 - Singapore, Singapore Duration: 2009 Jul 14 → 2009 Jul 17

Publication series

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

Other

Other	2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009
Country/Territory	Singapore
City	Singapore
Period	09/7/14 → 09/7/17

Keywords

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

ASJC Scopus subject areas

Control and Systems Engineering
Software
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/AIM.2009.5229815

Cite this

Abeygunawardhana, P. K. W., & Murakami, T. (2009). Workspace control of two wheel mobile manipulator by resonance ratio control. In 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 (pp. 1270-1275). Article 5229815 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM). https://doi.org/10.1109/AIM.2009.5229815

Workspace control of two wheel mobile manipulator by resonance ratio control. / Abeygunawardhana, P. K.W.; Murakami, Toshiyuki.
2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009. 2009. p. 1270-1275 5229815 (IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM).

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

Abeygunawardhana, PKW & Murakami, T 2009, Workspace control of two wheel mobile manipulator by resonance ratio control. in 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009., 5229815, IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM, pp. 1270-1275, 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009, Singapore, Singapore, 09/7/14. https://doi.org/10.1109/AIM.2009.5229815

@inproceedings{1c6a561505cb4e54acfd4539ff282d07,

title = "Workspace control of two wheel mobile manipulator by resonance ratio control",

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 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.",

keywords = "Acceleration control, Resonance ratio control, Two wheel mobile manipulator, Vibration suppression control",

author = "Abeygunawardhana, {P. K.W.} and Toshiyuki Murakami",

year = "2009",

doi = "10.1109/AIM.2009.5229815",

language = "English",

isbn = "9781424428533",

series = "IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM",

pages = "1270--1275",

booktitle = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009",

note = "2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009 ; Conference date: 14-07-2009 Through 17-07-2009",

}

TY - GEN

T1 - Workspace control of two wheel mobile manipulator by resonance ratio control

AU - Abeygunawardhana, P. K.W.

AU - Murakami, Toshiyuki

PY - 2009

Y1 - 2009

N2 - 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.

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 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.

KW - Acceleration control

KW - Resonance ratio control

KW - Two wheel mobile manipulator

KW - Vibration suppression control

UR - http://www.scopus.com/inward/record.url?scp=70350440294&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=70350440294&partnerID=8YFLogxK

U2 - 10.1109/AIM.2009.5229815

DO - 10.1109/AIM.2009.5229815

M3 - Conference contribution

AN - SCOPUS:70350440294

SN - 9781424428533

T3 - IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM

SP - 1270

EP - 1275

BT - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

T2 - 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2009

Y2 - 14 July 2009 through 17 July 2009

ER -

Workspace control of two wheel mobile manipulator by resonance ratio control

Abstract

Publication series

Other

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this