Research Papers - Dept of Computer Systems Engineering

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Author: search.filters.author.Murakami, TSubject: search.filters.subject.Null space

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    Vibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Control
    (IEEE, 2008-12-02) Abeygunawardhana, P. K. W; Murakami, T
    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.
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    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.