Publisher : Institute of Control, Robotics and Systems
DOI : 10.5302/J.ICROS.2015.14.0130
Title & Authors
Attitude Control of A Two-wheeled Mobile Manipulator by Using the Location of the Center of Gravity and Sliding Mode Controller Kim, Min-Gyu; Woo, Chang-Jun; Lee, Jangmyung;
This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.
balancing control;sliding mode control;inverted pendulum;mobile manipulator;center of gravity;
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