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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| Format: | Article |
| Language: | en |
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Praise Worthly Prize
2007
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| Online Access: | http://eprints.utm.my/7139/1/MusaMailah2007_Control_of_mobile_manipulator_using_resolved.pdf http://eprints.utm.my/7139/ |
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| _version_ | 1845471753350938624 |
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| author | Pitowarno, E. Mailah, Musa |
| author_facet | Pitowarno, E. Mailah, Musa |
| author_sort | Pitowarno, E. |
| building | UTM Library |
| collection | Institutional Repository |
| content_provider | Universiti Teknologi Malaysia |
| content_source | UTM Institutional Repository |
| continent | Asia |
| country | Malaysia |
| 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 |
| id | my.utm.eprints-7139 |
| institution | Universiti Teknologi Malaysia |
| language | en |
| publishDate | 2007 |
| publisher | Praise Worthly Prize |
| record_format | eprints |
| spelling | my.utm.eprints-71392010-06-01T15:49:34Z http://eprints.utm.my/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/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. |
| 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 |
| title | 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_short | 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 |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/7139/1/MusaMailah2007_Control_of_mobile_manipulator_using_resolved.pdf http://eprints.utm.my/7139/ |
| url_provider | http://eprints.utm.my/ |