Robust control of a mobile manipulator-dynamic modeling approach

Author

Chung, Jae H. ; Velinsky, Steven A.

Author_Institution

Dept. of Mech. & Aeronaut. Eng., California Univ., Davis, CA, USA

Volume

4

fYear

1999

fDate

1999

Firstpage

2435

Abstract

Discusses the dynamic modeling and robust control of a spatial mobile manipulator which consists of a robotic manipulator mounted upon a wheeled mobile platform. By considering slip of the wheeled platform´s tires, the assumption of nonholonomic motion is violated. The dynamic equations of motion are derived using the Newton-Euler method and incorporate a nonlinear tire friction model. Then, a robust control method is developed to eliminate the harmful effect of the wheel slip on the tracking performance. The effectiveness of the proposed control algorithm is demonstrated through computer simulation

Keywords

control system synthesis; digital simulation; friction; manipulator dynamics; mobile robots; position control; robust control; Newton-Euler method; dynamic equations of motion; dynamic modeling; nonlinear tire friction model; spatial mobile manipulator; tracking performance; wheel slip; wheeled mobile platform; Aerodynamics; Friction; Kinematics; Manipulator dynamics; Mobile robots; Robust control; Tires; Tracking; Vehicle dynamics; Wheels;

fLanguage

English

Publisher

ieee

Conference_Titel

American Control Conference, 1999. Proceedings of the 1999

Conference_Location

San Diego, CA

ISSN

0743-1619

Print_ISBN

0-7803-4990-3

Type

conf

DOI

10.1109/ACC.1999.786485

Filename

786485