Publication:
Vibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Control

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dc.contributor.authorAbeygunawardhana, P. K. W
dc.contributor.authorMurakami, T
dc.date.accessioned2022-02-14T07:24:50Z
dc.date.available2022-02-14T07:24:50Z
dc.date.issued2008-12-02
dc.description.abstractTwo 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.en_US
dc.identifier.citationP. K. W. Abeygunawardhana and T. Murakami, "Vibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Control," 2008 15th International Conference on Mechatronics and Machine Vision in Practice, 2008, pp. 385-390, doi: 10.1109/MMVIP.2008.4749564.en_US
dc.identifier.doi10.1109/MMVIP.2008.4749564en_US
dc.identifier.isbn978-1-4244-3779-5
dc.identifier.urihttps://rda.sliit.lk/handle/123456789/1137
dc.language.isoenen_US
dc.publisherIEEEen_US
dc.relation.ispartofseries2008 15th International Conference on Mechatronics and Machine Vision in Practice;Pages 385-390
dc.subjectVibration Suppressionen_US
dc.subjectTwo Wheel Mobile Manipulatoren_US
dc.subjectResonance Ratio Controlen_US
dc.subjectNull spaceen_US
dc.titleVibration Suppression of Two Wheel Mobile Manipulator using Resonance Ratio Controlen_US
dc.typeArticleen_US
dspace.entity.typePublication

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