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Robust motion control for mobile manipulator using resolved acceleration and proportional-integral active force control

Mailah, Musa and Pitowarno, Endra and Jamaluddin, Hishamuddin (2005) Robust motion control for mobile manipulator using resolved acceleration and proportional-integral active force control. International Journal of Advanced Robotic System, 2 (2). pp. 125-134. ISSN 1729-8806

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Abstract

A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the PIAFC is implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The effectivenss and robustness of the proposed scheme are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control scheme compared to other systems considered in the study

Item Type:Article
Uncontrolled Keywords:mobile manipulator, robust motion control, resolved acceleration control, active force control
Subjects:T Technology > TJ Mechanical engineering and machinery
Divisions:Mechanical Engineering
ID Code:7076
Deposited By: Mr Mohd Shukri Ramli
Deposited On:23 Dec 2008 01:56
Last Modified:08 Oct 2010 08:33

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