Research Papers - Dept of Computer Systems Engineering
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Publication Embargo Workspace control of two wheel mobile manipulator by resonance ratio control(IEEE, 2009-07-14) Abeygunawardhana, P. K. W; Murakami, TTwo 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 at work 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.Publication Embargo Environmental interaction of two wheeled mobile manipulator by using reaction torque observer(IEEE, 2008-03-26) Abeygunawardhana, P. K. W; Toshiyuki, MThere 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.