Development of the robotic motion controller for a wheeled manipulator

Author:

Nguyen Thanh Phuong1,Nguyen Hung1,Ngo Ha Quang Thinh23ORCID

Affiliation:

1. HUTECH Institute of Engineering, HUTECH University, Ho Chi Minh City, Vietnam

2. Department of Mechatronics, Faculty of Mechanical Engineering, Ho Chi Minh City University of Technology (HCMUT), Ho Chi Minh, Vietnam

3. Vietnam National University-Ho Chi Minh City (VNU-HCM), Linh Trung Ward, Thu Duc City, Ho Chi Minh, Vietnam

Abstract

For many years, wheeled manipulator (WM) becomes an effective solution in many aspects of our economics such that it assists to maintain the highly manufacturing production. In this work, the proposed design of motion controller for WM to handle an object is introduced. The hardware of this WM consists of two components, mobile platform and robotic manipulator. Our concept is to design the structure of differential drive for mobile base while the configuration of on-board manipulator is the parallelogram mechanism. Owing to this architecture, the system modelling of whole body is then established to identify related constraints. To ensure the sustainable movement, the system state is asymptotically stable according to Lyapunov candidate function. Both numerical simulation and practical experiment are validated in various test scenarios. With 20 demonstrations for each task, the proposed approach reaches to success rate over 90% of test cases which well-track the desired trajectory and precisely complete the robotic manipulation.

Publisher

SAGE Publications

同舟云学术

1.学者识别学者识别

2.学术分析学术分析

3.人才评估人才评估

"同舟云学术"是以全球学者为主线,采集、加工和组织学术论文而形成的新型学术文献查询和分析系统,可以对全球学者进行文献检索和人才价值评估。用户可以通过关注某些学科领域的顶尖人物而持续追踪该领域的学科进展和研究前沿。经过近期的数据扩容,当前同舟云学术共收录了国内外主流学术期刊6万余种,收集的期刊论文及会议论文总量共计约1.5亿篇,并以每天添加12000余篇中外论文的速度递增。我们也可以为用户提供个性化、定制化的学者数据。欢迎来电咨询!咨询电话:010-8811{复制后删除}0370

www.globalauthorid.com

TOP

Copyright © 2019-2024 北京同舟云网络信息技术有限公司
京公网安备11010802033243号  京ICP备18003416号-3