Robust Compensation Control of Mobile Manipulator Service Robot
A robust compensation control is proposed as an approach for the robust motion control of a mobile manipulator service robot comprising a mobile platform with a two-link arm mounted on top of the platform. Considering the coupling disturbance between the platform and the manipulator, nominal model of service robot is built, computed torque and proportion-differential (PD) feedback control method is presented, non-linear feedback is used to decouple the control system. Aiming at the modeling uncertainty and existing uncertainties disturbances, compensation is adopted for the built control law. Lyapunov method is adopted to determine the compensation item, and by these, the robust motion control of the mobile manipulator service robot is realized. Simulation experiment had been done for the mobile platform and the manipulator, experiment results show that, the presented control method can realize the robust control of mobile manipulator service robot, and thus show the effectiveness and correctness of the designed controller.
Service robot Mobile manipulator Computed torque control Robust compensation
Bu Chi-wu Zhang Li-xun
College of Light Industry Harbin University of Commerce Harbin,China College of Mechanical and Elect College of Mechanical and Electrical Engineering Harbin Engineering University Harbin,China
国际会议
长沙
英文
860-864
2009-04-11（万方平台首次上网日期，不代表论文的发表时间）