Research Papers - Dept of Computer Systems Engineering

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    Control of two wheel mobile manipulator on a rough terrain using reaction torque observer feedback
    (Library of Science, 2010-04-01) Abeygunawardhana, P. K. W; Murakami, T
    The mobile manipulator has the potential to become an efficient industrial robot due to its mobility and dexterity. Moreover, it has expanded the operational area of the mobile manipulator due to its ability to work in a limited space. However, adaptability to unknown environments has still not been developed to date. Therefore, adaptation of the mobile manipulator for unknown environments especially for rough/irregular terrain is discussed in this paper. Information about the environment, a key factor when aiming for compliance with an unknown and/or unstructured environment, was collected using a reaction torque observer. In order to adapt to the environment, compliance control was applied to the mobile manipulator. In this paper, we present a novel control strategy we have developed that can deal with unknown environments through the effective use of inverted pendulum control. Simulation and experiments were carried out to ensure the validity of the proposed method. The method could be confirmed as effective according to the results obtained.
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    PublicationEmbargo
    Self-sustaining control of two-wheel mobile manipulator using sliding mode control
    (IEEE, 2010-03-21) Abeygunawardhana, P. K. W; Defoort, M; Murakami, T
    Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand sliding mode control is a good candidate to address the nonlinear/under actuated system. This paper presents the control methods for balancing of two-wheel mobile manipulator. This paper proposes a novel second order sliding mode controller using twisting algorithm, disturbance observer and dynamics of double inverted pendulum. Dynamics of double inverted pendulum is used to design the control equation of sliding mode controller. Twisting algorithm is used to design the control input. Disturbance observer is compensated model uncertainties and external disturbances. Posture of two wheel mobile manipulator can successfully stabilized by this novel controller.