Stabilized supervising control of a two Wheel Mobile Manipulator

摘要

A two Wheel Mobile Manipulator (WMM) has the potential to become a multi-skilled robot in the field of robotics engineering and it is already implemented using inverted pendulum control. However, being some restriction on the robot structure and also stability type satisfaction make the robot to the certain extended limitation usage. Due to the unbalanced nature and the non-holonomic property of WMMs, balancing is the most important challenging task. So, in this paper, a new mechanism of WMM is presented and the method of a dynamical balancing control is used to increase the robot applications. A reaction wheel is considered to control the Center of Gravity (CoG) position and the passive joint instead of mobile wheels. This method helps the robot manipulator to have more smoothly movement. Since this type of robot can manipulate object, the robot is assumed to have Double Inverted Pendulum Model (DIPM). So, identifying the CoG position is used to achieve the robot balancing. This consumption improves the robustness in an object manipulation maneuver. In addition, DIPM dynamics is used to identify and simplify the dynamics of robot manipulator and then, supervising control is employed to control the robot CoG position. The DIPM dynamics with a reaction wheel is verified by ADAMS and the control algorithm is run on MATTAB Simulink Toolbox.