An Adaptive Based Approach to Improve the Stability of Two Wheel Mobile Manipulator

摘要

Mobile manipulator with two wheel will play vital role when robot working with limited space. On the other hand, improvement of two wheel vehicle will explore the technology to improve welfare and industrial robots like wheelchair robot. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. But system error is relatively large. Although the stability improvemnt using passivity theory was reported, it was not succeed with trajectory motion. Therefore, performance improvement which will be achieved through changing the PD controler gains is proposed in this paper. Disturbance observer has been employed to cancel the disturbances.