Browsing by Author "Toshiyuki, M"

Now showing 1 - 4 of 4

Embargo
An adaptive based approach to improve the stability of two wheel mobile manipulator
(IEEE, 2007-11-05) Abeygunawardhana, P. K. W; Toshiyuki, M
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.
Embargo
Casterless Wheelchair Robot Using Inverted Pendulum Control
(IEEE, 2006-08-08) Abeygunawardhana, P. K. W; Toshiyuki, M
Power assist wheelchair robot is playing a key role in the field of medical welfare robotics. But, to a certain extend, there is a setback in development due to presence of caster wheels. Hence, this paper proposes a casterless wheelchair and its control on a straight line path. That is, straight line driving of two wheel power assist wheelchair robot was proposed in this paper while keeping stability of wheelchair body itself. Balancing of wheelchair body is proposed to achieve by controlling the inverted pendulum mounted on the wheelchair. Control equations of the system are derived using Lagrange equation of motion. Two separate controllers are designed for two wheels. In addition to these two controllers, there is another controller for pendulum. Body controller is designed combining pendulum controller and wheel controller. Disturbance observer is used to cancel disturbance effects. Simulation was carried out to prove the applicability of the proposed system
Embargo
Environmental interaction of two wheeled mobile manipulator by using reaction torque observer
(IEEE, 2008-03-26) Abeygunawardhana, P. K. W; Toshiyuki, M
There are so many industrial manipulators which involve in lot of task in the industry. Developing the mobile manipulator will expand the operational region of the manipulator. Moreover, two wheeled mobile manipulator will further expand the task of the mobile manipulator by being able to work in limited space and so on. However good mobile manipulator should be robust against environmental disturbance. Therefore, environmental recognition of two wheeled mobile manipulator is proposed in this paper. Reaction torque observer is implemented to recognize the environmental disturbance. Compliance control is used to compensate the environmental feedback. Experiment was carried out to show the effectiveness of the proposed method.
Embargo
Self sustaining wheelchair robot on a curved trajectory
(IEEE, 2006-12-15) Abeygunawardhana, P. K. W; Toshiyuki, M
Today, aged population is increasing in the world, especially in developed countries. Handicapped people could not fulfill their own task without difficulties. Therefore, medical and welfare robotics has become important. Power assist wheelchair robot has been effective in this field for many years. But, to a certain extend, there is a setback in development due to presence of caster wheels. Turning, overcoming obstacles and reversing will be easy without casters. Casterless "wheelchair and its control on a straight line was presented in author's previous paper. Two wheel wheelchair robot on curved trajectory is proposed in this paper. Balancing of "wheelchair body is proposed to achieve by controlling the inverted pendulum mounted on the wheelchair. Control equations of the system are derived using Lagrange equation of motion. Body controller is designed combining pendulum controller and wheel controller. Disturbance observer is used to cancel disturbance effects. Simulation was carried out to prove the applicability of the proposed system.