2A1-P11 Control of a wheeled inverted pendulum robot equipped with dual manipulator : A control method of disturbance compensation control using Extended State Observer and feedforward input(Mobile Robot with Special Mechanism (1))

摘要

This paper proposes a method of controlling an Inverted PENdulum Type Assistant Robot (I-PENTAR) when using the attached robot arms. Coupling forces and unknown factors occur during execution of target tasks that use the arms of the I-PENTAR. Therefore precise modeling of the robot and arms is difficult. This paper presents the combination of Active Disturbance Rejection Control for compensation of unknown dynamics and feedforward input. Results regarding the control method and swinging arm tests during stabilization of I-PENTAR are presented.