Please use this identifier to cite or link to this item: https://rda.sliit.lk/handle/123456789/1137
Title: Vibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Control
Authors: Abeygunawardhana, P. K. W
Murakami, T
Keywords: Vibration Suppression
Two Wheel Mobile Manipulator
Resonance Ratio Control
Null space
Issue Date: 2-Dec-2008
Publisher: IEEE
Citation: P. K. W. Abeygunawardhana and T. Murakami, "Vibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Control," 2008 15th International Conference on Mechatronics and Machine Vision in Practice, 2008, pp. 385-390, doi: 10.1109/MMVIP.2008.4749564.
Series/Report no.: 2008 15th International Conference on Mechatronics and Machine Vision in Practice;Pages 385-390
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 to null 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.
URI: http://rda.sliit.lk/handle/123456789/1137
ISBN: 978-1-4244-3779-5
Appears in Collections:Research Papers - Dept of Computer Systems Engineering
Research Papers - IEEE
Research Papers - SLIIT Staff Publications

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