Stabilized supervising control of a two Wheel Mobile Manipulator

Larimi, S. Reza; Zarafshan, Payam; Moosavian, S. Ali A.

doi:10.1109/icrom.2013.6510116

Cited by 6 publications

(4 citation statements)

References 20 publications

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“…[30], The block dia gram of the model-based control algorithm was introduced before in Fig. [30], The block dia gram of the model-based control algorithm was introduced before in Fig.…”

Section: Resultsmentioning

confidence: 99%

“…[30], The developed dynamics equations of motion of the virtual double inverted pendulum with a reaction wheel were verified in Ref.…”

Section: Q = [Qw Qi Qr Qe ]T (Iob)mentioning

confidence: 98%

“…In the case of wheeled robot, one should satisfy some constraints to stabilize the robot motion [30], As mentioned before, one of the newly proposed tasks for two wheeled robots is performing object manipulation operation. This is usually satisfied by considering stability conditions in motion planning.…”

Section: Supervisory Controller Designmentioning

confidence: 99%

“…5(b). It should be noted that this desired value of q l is computed using dynamic equations with knowing all dynamic parameter values in the model-based supervisory control [30], shown in Fig. Therefore, using the supervising block (through the gains Kr, Kr in Fig.…”

Section: Supervisory Controller Designmentioning

confidence: 99%

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A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel

Larimi

Zarafshan

Moosavian

2014

Journal of Dynamic Systems, Measurement, and Control

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The concept o f two-wheeled mobile manipulator (TWMM) has been proposed for its sig nificant advantage due to high maneuverability particularly in confined internal spaces. However, its unbalanced structure imposes restrictions for widespread application. Note that the nonholonomic property of a TWMM makes its control a more challenging task. In this paper, a new stabilization mechanism of TWMM is presented, and a new control method based on dynamical balancing algorithm is proposed that could effectively resolve those restrictions. To this end, a reaction wheel is considered to control the posi tion o f center o f gravity (COG), leading to a smoother motion of the robot manipulator. To make the robot be able to manipulate an object, a double inverted pendulum model (DIPM) is considered as a simplified model of the system. DIPM dynamics is used to identify and simplify the dynamics of TWMM and subsequently a supervisory control is employed to stabilize the robot via its COG position. This in turn improves the robustness o f the proposed algorithm during manipulation maneuver o f an object with unknown mass parameters. Results are compared to those of an ideal model-based algorithm that reveal the merits of the proposed control strategy.

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“…[30], The block dia gram of the model-based control algorithm was introduced before in Fig. [30], The block dia gram of the model-based control algorithm was introduced before in Fig.…”

Section: Resultsmentioning

confidence: 99%

“…[30], The developed dynamics equations of motion of the virtual double inverted pendulum with a reaction wheel were verified in Ref.…”

Section: Q = [Qw Qi Qr Qe ]T (Iob)mentioning

confidence: 98%

Section: Supervisory Controller Designmentioning

confidence: 99%

Section: Supervisory Controller Designmentioning

confidence: 99%

See 2 more Smart Citations