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Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control

A practical and novel method to control a mobile manipulator is proposed using a resolved acceleration with iterative-learning-proportional-integral active force control strategy.It is implemented as an approach for the robust motion control of a mobile manipulator comprising a diffrentially driven...

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Main Authors: Pitowarno, E., Mailah, Musa
格式: Article
語言:English
出版: Praise Worthly Prize 2007
主題:
TJ Mechanical engineering and machinery
在線閱讀:http://eprints.utm.my/id/eprint/7139/1/MusaMailah2007_Control_of_mobile_manipulator_using_resolved.pdf
http://eprints.utm.my/id/eprint/7139/
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spelling my.utm.71392010-06-01T15:49:34Z http://eprints.utm.my/id/eprint/7139/ Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control Pitowarno, E. Mailah, Musa TJ Mechanical engineering and machinery A practical and novel method to control a mobile manipulator is proposed using a resolved acceleration with iterative-learning-proportional-integral active force control strategy.It is implemented as an approach for the robust motion control of a mobile manipulator comprising a diffrentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform.The resolved acceleration control is used to manipulate the kinematics of the system in the outermost control loop configuration while the active force control located within the loop is employed to compensate for the dynamic effects including distrurbances and uncertainties.The effectiveness and robustness of the proposed scheme is investigated considering a number of introduced distribances in the forms of impact and vibration forces while the mobile manipulator is performing a trajectory tracking task.The scheme is also validated through an experimental result verify the viability of the proposed scheme in producing the desired robust motion control performances. Praise Worthly Prize 2007-09 Article PeerReviewed application/pdf en http://eprints.utm.my/id/eprint/7139/1/MusaMailah2007_Control_of_mobile_manipulator_using_resolved.pdf Pitowarno, E. and Mailah, Musa (2007) Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control. International Review of Mechanical Engineering, 1 (5). pp. 549-558.
institution Universiti Teknologi Malaysia
building UTM Library
collection Institutional Repository
continent Asia
country Malaysia
content_provider Universiti Teknologi Malaysia
content_source UTM Institutional Repository
url_provider http://eprints.utm.my/
language English
topic TJ Mechanical engineering and machinery
spellingShingle TJ Mechanical engineering and machinery
Pitowarno, E.
Mailah, Musa
Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
description A practical and novel method to control a mobile manipulator is proposed using a resolved acceleration with iterative-learning-proportional-integral active force control strategy.It is implemented as an approach for the robust motion control of a mobile manipulator comprising a diffrentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform.The resolved acceleration control is used to manipulate the kinematics of the system in the outermost control loop configuration while the active force control located within the loop is employed to compensate for the dynamic effects including distrurbances and uncertainties.The effectiveness and robustness of the proposed scheme is investigated considering a number of introduced distribances in the forms of impact and vibration forces while the mobile manipulator is performing a trajectory tracking task.The scheme is also validated through an experimental result verify the viability of the proposed scheme in producing the desired robust motion control performances.
format Article
author Pitowarno, E.
Mailah, Musa
author_facet Pitowarno, E.
Mailah, Musa
author_sort Pitowarno, E.
title Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
title_short Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
title_full Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
title_fullStr Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
title_full_unstemmed Control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
title_sort control of mobile manipulator using resolved acceleration with iterative-learning-proportional-integral active force control
publisher Praise Worthly Prize
publishDate 2007
url http://eprints.utm.my/id/eprint/7139/1/MusaMailah2007_Control_of_mobile_manipulator_using_resolved.pdf
http://eprints.utm.my/id/eprint/7139/
_version_ 1643644709772460032
score 13.251813

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