NDLI: Multi-task control for dynamically balanced two-wheeled mobile manipulator through task-priority

Content Provider	IEEE Xplore Digital Library
Author	Acar, C. Murakami, T.
Copyright Year	2011
Description	Author affiliation: Department of Integrated Design Engineering, Keio University, Kohoku, Yokohama 223-8522, Japan (Acar, C.; Murakami, T.)
Abstract	In this paper, the concept of task-priority for dynamically balanced two-wheeled mobile manipulator is addressed to deal with multiple tasks simultaneously. The body of two-wheeled platform, which is assumed to be one of the links of the manipulator, can only be controlled indirectly. This system requires active control to maintain its posture and balance due to underactuated structure, which makes the control of this system quite challenging. Since this system has many degrees of freedom, it is possible to perform variety of tasks at the same time. However, conflict between tasks may occur while performing multiple tasks simultaneously. In case of conflict, system should satisfy the balance constraint to avoid the dangerous situations. Using null-space projection based task-priority method ensures the fulfilment of balance at all cost and assigns lower priorities of the remaining tasks. Motion of the underactuated joint can be controlled not only by the wheel but also the actuated joint of the manipulator by proposed method. The validity of proposed method is illustrated by simulation results.
Starting Page	2195
Ending Page	2200
File Size	1362176
Page Count	6
File Format	PDF
ISBN	9781424493104
e-ISBN	9781424493128
e-ISBN	9781424493111
DOI	10.1109/ISIE.2011.5984501
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-06-27
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Observers Kinematics Manipulators Jacobian matrices Wheels Mobile communication
Content Type	Text
Resource Type	Article

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