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Stability improvement of two wheel mobile manipulator by real time gain control technique

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dc.contributor.authorAbeygunawardhana, P. K. W
dc.date.accessioned2022-02-10T09:13:10Z
dc.date.available2022-02-10T09:13:10Z
dc.date.issued2007-08-09
dc.description.abstractAbstract: Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. Disturbance observer has been employed to cancel the disturbances.en_US
dc.identifier.citationP. K. W. Abeygunawardhana and Murakami Toshiyuki, "Stability improvement of two wheel mobile manipulator by real time gain control technique," 2007 International Conference on Industrial and Information Systems, 2007, pp. 79-84, doi: 10.1109/ICIINFS.2007.4579152.en_US
dc.identifier.doi10.1109/ICIINFS.2007.4579152en_US
dc.identifier.issn2164-7011
dc.identifier.urihttps://rda.sliit.lk/handle/123456789/1102
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2007 International Conference on Industrial and Information Systems;Pages 79-84
dc.subjectStability improvementen_US
dc.subjecttwo wheel mobile manipulatoren_US
dc.subjectreal time gain controlen_US
dc.subjectDouble inverted pendulumen_US
dc.subjectDisturbance observeren_US
dc.subjectAcceleration controlen_US
dc.subjectControl of PD controller gainsen_US
dc.titleStability improvement of two wheel mobile manipulator by real time gain control techniqueen_US
dc.typeArticleen_US
dspace.entity.typePublication

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