Please use this identifier to cite or link to this item: https://rda.sliit.lk/handle/123456789/1097
Title: An adaptive based approach to improve the stability of two wheel mobile manipulator
Authors: Abeygunawardhana, P. K. W
Toshiyuki, M
Keywords: Adaptive Based Approach
Improve
Stability
Two Wheel Mobile Manipulator
Issue Date: 5-Nov-2007
Publisher: IEEE
Citation: P. K. W. Abeygunawardhana and M. Toshiyuki, "An Adaptive Based Approach to Improve the Stability of Two Wheel Mobile Manipulator," IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society, 2007, pp. 2712-2717, doi: 10.1109/IECON.2007.4460292.
Series/Report no.: IECON 2007-33rd Annual Conference of the IEEE Industrial Electronics Society;Pages 2712-2717
Abstract: Mobile manipulator with two wheel will play vital role when robot working with limited space. On the other hand, improvement of two wheel vehicle will explore the technology to improve welfare and industrial robots like wheelchair robot. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. But system error is relatively large. Although the stability improvement using passivity theory was reported, it was not succeed with trajectory motion. Therefore, performance improvement which will be achieved through changing the PD controller gains is proposed in this paper. Disturbance observer has been employed to cancel the disturbances.
URI: http://rda.sliit.lk/handle/123456789/1097
ISSN: 1553-572X
Appears in Collections:Research Papers - Dept of Computer Systems Engineering
Research Papers - IEEE
Research Papers - SLIIT Staff Publications

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