Open AccessROBUST ADAPTIVE CONTROL OF MOBILE MANIPULATOR
Author(s) -
Lam Tan Chung,
Sang Bong Kim
Publication year - 2009
Publication title -
khoa học công nghệ
Language(s) - English
Resource type - Journals
ISSN - 1859-0128
DOI - 10.32508/stdj.v12i16.2353
Subject(s) - mobile manipulator , parametric statistics , computer science , controller (irrigation) , control theory (sociology) , manipulator (device) , robust control , trajectory , usb , control engineering , adaptive control , mobile robot , control (management) , control system , engineering , robotic arm , robot , artificial intelligence , software , mathematics , programming language , statistics , physics , electrical engineering , astronomy , agronomy , biology
In this paper a robust control is applied to a two-wheeled mobile manipulator (WMM) to observe the dynamic behavior of the total system. To do so, the dynamic equation of the mobile manipulator is derived taking into account parametric uncertainties, external disturbances, and the dynamic interactions between the mobile platform and the manipulator; then, a robust controller is derived to compensate the uncertainty and disturbances solely based on the desired trajectory and sensory data of the joints and the mobile platform. Also, a combined system which composed of a computer and a multi-dropped PIC-based controller is developed using USB-CAN communication to meet the performance of demand of the whole system. What's more, the simulation and experimental results are included to illustrate the performance of the robust control strategy.