NDLI: Stabilized supervising control of a two Wheel Mobile Manipulator

Content Provider	IEEE Xplore Digital Library
Author	Larimi, S.R. Zarafshan, P. Moosavian, S.A.A.
Copyright Year	2013
Description	Author affiliation: Dept. of Mech. Eng., K.N. Toosi Univ. of Technol., Tehran, Iran (Larimi, S.R.; Zarafshan, P.; Moosavian, S.A.A.)
Abstract	A two Wheel Mobile Manipulator (WMM) has the potential to become a multi-skilled robot in the field of robotics engineering and it is already implemented using inverted pendulum control. However, being some restriction on the robot structure and also stability type satisfaction make the robot to the certain extended limitation usage. Due to the unbalanced nature and the non-holonomic property of WMMs, balancing is the most important challenging task. So, in this paper, a new mechanism of WMM is presented and the method of a dynamical balancing control is used to increase the robot applications. A reaction wheel is considered to control the Center of Gravity (CoG) position and the passive joint instead of mobile wheels. This method helps the robot manipulator to have more smoothly movement. Since this type of robot can manipulate object, the robot is assumed to have Double Inverted Pendulum Model (DIPM). So, identifying the CoG position is used to achieve the robot balancing. This consumption improves the robustness in an object manipulation maneuver. In addition, DIPM dynamics is used to identify and simplify the dynamics of robot manipulator and then, supervising control is employed to control the robot CoG position. The DIPM dynamics with a reaction wheel is verified by ADAMS and the control algorithm is run on MATTAB Simulink Toolbox.
Starting Page	265
Ending Page	270
File Size	1899346
Page Count	6
File Format	PDF
ISBN	9781467358095
e-ISBN	9781467358118
DOI	10.1109/ICRoM.2013.6510116
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-02-13
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Stability Double Inverted Pendulum Robot kinematics Two Wheel Mobile Manipulator Wheels Supervising Control Mobile communication Robustness Mobile robots MATLAB Reaction Wheel
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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