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State control of a 12 DOF mobile manipulator via centroid feedback

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Abstract

This paper presents a method for controlling the time-varying centroid of a two-wheeled mobile manipulator via centroid feedback. The state control of a two-wheeled mobile manipulator is a typical example of the stable control of a nonlinear time-varying system. Because of the principle of the two-wheeled inverted pendulum robot, when the centroid of the mobile manipulator changes, the state of the mobile manipulator changes. To control the state of the mobile manipulator, the centroid of the mobile manipulator must be kept at a vertical position. The position of the centroid of the mobile manipulator can be obtained in Cartesian space via coordinate transformation. The position data are then fed back to the mobile platform for achieving state control of the mobile manipulator. Through simulations, the centroid feedback control is combined with a basic PD control, which completes the state control of the mobile manipulator. The experimental data demonstrate the effectiveness of the proposed method in achieving state control of a 12 DOF mobile manipulator.

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Authors and Affiliations

  1. School of Electrical Engineering, Pusan National University, Jangjeon 2-dong, Geumjeong-gu, Busan, South Korea, 609-735

    Gang Wang & Jangmyung Lee

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  1. Gang Wang
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  2. Jangmyung Lee
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Correspondence to Jangmyung Lee.

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Wang, G., Lee, J. State control of a 12 DOF mobile manipulator via centroid feedback. Int. J. Precis. Eng. Manuf. 14, 745–754 (2013). https://doi.org/10.1007/s12541-013-0098-7

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  • DOI: https://doi.org/10.1007/s12541-013-0098-7

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