Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Attitude Control of A Two-wheeled Mobile Manipulator by Using the Location of the Center of Gravity and Sliding Mode Controller

무게중심위치와 슬라이딩 모드 제어를 통한 이륜형 모바일 머니퓰레이터의 자세제어

  • Kim, Min-Gyu (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Woo, Chang-Jun (Department of Electronic and Electric and Computer Engineering, Pusan National University) ;
  • Lee, Jangmyung (Department of Electronic Engineering, Pusan National University)
  • 김민규 (부산대학교 전자전기컴퓨터공학과) ;
  • 우창준 (부산대학교 전자전기컴퓨터공학과) ;
  • 이장명 (부산대학교 전자공학과)
  • Received : 2014.12.03
  • Accepted : 2015.04.20
  • Published : 2015.08.01
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Abstract

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

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References

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