dc.contributor.author |
Acar, Cihan |
en |
dc.contributor.author |
Murakami, T |
en |
dc.date.accessioned |
2012-02-15T21:35:40Z |
en |
dc.date.issued |
2010 |
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dc.identifier.citation |
11th IEEE International Workshop on Advanced Motion Control, 21 Mar 2010 - 24 Mar 2010. International Workshop on Advanced Motion Control, AMC. IEEE. 715-720. 2010 |
en |
dc.identifier.issn |
1943-6572 |
en |
dc.identifier.uri |
http://hdl.handle.net/2292/11335 |
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dc.description.abstract |
Two-wheeled mobile manipulator systems have many advantages compared to the statically stable systems. Due to the highly nonlinear underactuated structure (more degrees of freedom than the number of actuators), it is difficult to control the motion of wheels and stability of underactuated joint at the same time by wheels. In this paper, we deal with motion control of the wheels through CoG (Center of Gravity) manipulation of manipulator while keeping the stability of passive joint with backstepping method. In order to move wheels to desired position, inverted pendulum model is utilized to control the center of gravity position of manipulator. The trajectory of CoG is obtained by using the optimal linear quadratic method, which provides smooth CoG pattern motion. The preview control structure is utilized to improve the transient response and compensate the delay between input reference and output of wheels. The validity of proposed method is verified by simulation results. |
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dc.publisher |
IEEE |
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dc.relation.ispartof |
2010 11th IEEE International Workshop on Advanced Motion Control |
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dc.relation.ispartofseries |
International Workshop on Advanced Motion Control, AMC |
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dc.rights |
Items in ResearchSpace are protected by copyright, with all rights reserved, unless otherwise indicated. Previously published items are made available in accordance with the copyright policy of the publisher. |
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dc.rights.uri |
https://researchspace.auckland.ac.nz/docs/uoa-docs/rights.htm |
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dc.title |
Motion control of dynamically balanced two-wheeled mobile manipulator through CoG manipulation |
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dc.type |
Conference Item |
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dc.identifier.doi |
10.1109/AMC.2010.5464042 |
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pubs.begin-page |
715 |
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dc.rights.holder |
Copyright: IEEE |
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pubs.end-page |
720 |
en |
pubs.finish-date |
2010-03-24 |
en |
pubs.start-date |
2010-03-21 |
en |
dc.rights.accessrights |
http://purl.org/eprint/accessRights/RestrictedAccess |
en |
pubs.subtype |
Abstract |
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pubs.elements-id |
293051 |
en |
pubs.record-created-at-source-date |
2012-07-30 |
en |