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Tracking control of a three-wheeled omnidirectional mobile manipulator system with disturbance and friction

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Abstract

This paper proposes a tracking control method for a three-wheeled omnidirectional manipulator system (OMMS) with disturbance and friction. The OMMS is separated into two subsystems, a three-wheeled omnidirectional mobile platform (OMP) and a selective compliant articulated robot for assembly (SCARA) type of manipulator. Therefore, two controllers are designed to control the OMP and the manipulator system. Firstly, based on a kinematic modeling of the manipulator, a kinematic controller (KC), combined with an integral sliding mode controller (ISMC), is designed for the end-effector of the manipulator to track a desired trajectory with the desired angular velocity vector of links. Secondly, a differential sliding mode controller (DSMC) based on a dynamic modeling of the OMP with force external disturbances is proposed to obtain control inputs moving the OMP so that the manipulator tracks the desired posture without singularity. The system stability is proven using Lyapunov stability theory. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controllers in the presence of disturbance and friction.

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Authors and Affiliations

  1. Department of Mechanical and Automotive Eng., College of Eng., Pukyong National University, Busan, 608-739, Korea

    Tuan Dinh Viet, Phuc Thinh Doan, Hak Kyeong Kim & Sang Bong Kim

  2. Faculty of Mechanical — Electrical — Electronic, University of Technology, Hochiminh City, Vietnam

    Nguyen Hung

Authors
  1. Tuan Dinh Viet
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  2. Phuc Thinh Doan
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  3. Nguyen Hung
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  4. Hak Kyeong Kim
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  5. Sang Bong Kim
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Corresponding author

Correspondence to Sang Bong Kim.

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Recommended by Associate Editor Yang Shi

Tuan Dinh Viet was born in Vietnam on July 14, 1972. He received a B.S. degree in the Faculty of Computer Science, Hochiminh City Open University, Vietnam in 1997. He received a B.S. degree in the Faculty of Information Technology, College of Engineering, University of Danang, Vietnam in 2008. He is currently a Ph.D. student in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His fields of interests are computer science, robust control and mobile robot control.

Phuc Thinh Doan was born in Vietnam on January 31, 1985. He received a B.S. degree in the Dept. of Mechanical Engineering, Hochiminh City University of Technology, Vietnam in 4/2007. He then received an M.S. degree in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea in 2/2011. He is currently a Ph.D. student in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His fields of interests are robotic, power electric, motion control and mobile robot control.

Nguyen Hung was born in Vietnam on December 01, 1977. He received B.S. and M.S. degrees in the Faculty of Electrical and Electronics Engineering, Hochiminh City University of Technology, Vietnam in 2000 and 2004. He then received his Ph.D. in the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea in 2/2010. Since then, he has been a lecturer of Faculty of Mechanical — Electrical — Electronic, University of Technology, Hochiminh City, Vietnam. His fields of interests are robust control and mobile robot control.

Hak Kyeong Kim was born in Korea on November 11, 1958. He received B.S. and M.S. degrees in the Dept. of Mechanical Engineering from Pusan National University, Korea in 1983 and 1985. He received his Ph.D. degree from the Dept. of Mechatronics Engineering, Pukyong National University, Busan, Korea in February, 2002. His fields of interest are robust control, biomechanical control, mobile robot control, and image processing control.

Sang Bong Kim was born in Korea on August 6, 1955. He received B.S. and M.S. degrees from the National Fisheries University of Pusan, Korea in 1978 and 1980. He received his Ph.D. from Tokyo Institute of Technology, Japan in 1988. Since then, he has been a Professor of the Dept. of Mechanical Engineering, Pukyong National University, Busan, Korea. His research has been on robust control, biomechanical control, and mobile robot control.

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Viet, T.D., Doan, P.T., Hung, N. et al. Tracking control of a three-wheeled omnidirectional mobile manipulator system with disturbance and friction. J Mech Sci Technol 26, 2197–2211 (2012). https://doi.org/10.1007/s12206-012-0541-1

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  • DOI: https://doi.org/10.1007/s12206-012-0541-1

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