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A Study on a Mobile Platform-Manipulator
판탄둥(Tan Tung Phan),충탄람(Tan Lam Chung),뇨만융(Manh Dung Ngo),김상봉(Sang Bong Kim) 한국동력기계공학회 2004 한국동력기계공학회 학술대회 논문집 Vol.- No.-
This paper discusses about the decentralized control method for a mobile manipulator, which uses for welding process in many industrial fields. In this paper, the mobile manipulator is divided into two subsystems that are the manipulator and the mobile platform. For this reason, a simple decentralized control method for two subsystems is proposed. The task of the mobile manipulator is the end-effector of the manipulator tracks along a seam and the mobile platform moves to maintain the initial configuration of the manipulator in order to avoiding the singularity of the manipulator in the welding process. Two controllers for the mobile-platform and the manipulator are designed, respectively and they are obtained from the Lyapunov function to ensure the asymptotical stability of the system. The simulation and experimental results have proved the effectiveness of the proposed controllers.