Stabilization of Mobile Robotic Manipulator Through Independent Base Control
- Resource Type
- Conference
- Authors
- Crespo, Martin; Nacusse, Matias; Junco, Sergio; Carignano, Mauro
- Source
- 2018 Argentine Conference on Automatic Control (AADECA) Automatic Control (AADECA), 2018 Argentine Conference on. :1-6 Nov, 2018
- Subject
- Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Wheels
Standards
Manipulator dynamics
Task analysis
Trajectory tracking
Mobile robotic manipulator
bond-graph and Euler-Lagrange modeling
stabilization
energy-shaping and IDA control
backstepping design
- Language
This paper considers the problem of stabilizing the base position of a mobile robotic manipulator constituted by a mobile base and a manipulator arm whose control system has been designed under the assumption of fixed base. Because of this assumption the performance of the manipulator arm would considerably degrade if the base moves when the end-effector executes a given task. The solution provided here is a control law for the motors actuating the base wheels to keep them as much locked in their position as possible despite the reaction of the arm on the base. The problem is solved adopting a heuristic approach to closed-loop energy-shaping and damping-assignment in the bond-graph domain, with a procedure equivalent to a backstepping design. Simulation results are provided to illustrate the acceptable overall performance of the control system.