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Assumed model feedforward sliding mode control for a wheeled mobile robot with 3-DOF manipulator systems

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Abstract

In this paper, a three wheeled mobile platform with a 3-DOF manipulator was designed and its dynamic model has been constructed and a Sliding mode control (SMC) with the kinematic control is designed to follow the designed position trajectory for a mobile manipulator. Next, an assumed dynamic model of each system is used to design sliding mode controller in order to replace the modelbased control and adaptive estimation for unknown dynamic parameters. The stability of the proposed control scheme has been proved by Lyapunov theory. The effectiveness and accuracy of the proposed algorithm has been verified by simulations and practical experiments for the developed mobile manipulator system. And the simulation and experimental results have been compared to those of traditional PID algorithm to show the superiority of the proposed algorithm.

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Authors and Affiliations

  1. Department of Mechanical Engineering, Pusan National University, 46241, Pusan, Korea

    Seongik Han

  2. Department of Electronic Engineering, Pusan National University, 46241, Pusan, Korea

    Hyunuk Ha, Yudong Zhao & Jangmyung Lee

Authors
  1. Seongik Han
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  2. Hyunuk Ha
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  3. Yudong Zhao
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  4. Jangmyung Lee
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Corresponding author

Correspondence to Jangmyung Lee.

Additional information

Recommended by Associate Editor Junzhi Yu

Seongik Han received his B.S. and M.S. degrees in Mechanical Engineering from Pusan National University, Korea, in 1987 and 1989, respectively, and the Ph.D. in Mechanical Design Engineering from Pusan National University in 1995. From 1995 to 2009, he was an Associate Professor of Electrical Automation of Suncheon First College, Korea. Now he is with the Mechanical Engineering, Pusan National University, Korea. His research interests include intelligent control, nonlinear control, robotic control, hydraulic servo system control, vehicle system control and steel process control.

Hyunuk Ha received the B.S. and M.S. degrees in Electronic Engineering from Pusan National University, Busan, Korea, in 2008 and 2010, respectively. He worked for KERI (Korea Electrotechnology Research Institute) from 2011 till the end of 2014, and now he is pursuing his doctorate degree at Pusan National University. His research interests include electric vehicle, robotic control, and visual servoing for mobile manipulator.

Yudong Zhao received the B.S. and M.S. degrees in Mechanical Design, Manufacturing and Automation School and Electronic Engineering from Henna Polytechnic University and Pusan National University, China and Korea in 2014 and 2016, respectively. Now he is pursuing doctorial degree in Pusan National University, Korea, and his research interests include computer vision and collaboration robotics.

Jangmyung Lee received the B.S. and the M.S. in Electronic Engineering from Seoul National University, Seoul, Korea, in 1980 and 1982, respectively, and the Ph.D. in Computer Engineering from the University of Southern California (USC), Los Angeles, in 1990. Since 1992, he has been a Professor with the Intelligent Robot Laboratory, Pusan National University, Busan, Korea. His current research interests include intelligent robotic systems, ubiquitous ports, and intelligent sensors. Dr. Lee is a Past President of the Korean Robotics Society, and a Vice President of ICROS. He is also the Head of National Robotics Research Center, SPENALO.

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Han, S., Ha, H., Zhao, Y. et al. Assumed model feedforward sliding mode control for a wheeled mobile robot with 3-DOF manipulator systems. J Mech Sci Technol 31, 1463–1475 (2017). https://doi.org/10.1007/s12206-017-0246-6

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  • DOI: https://doi.org/10.1007/s12206-017-0246-6

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