제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

Decentralized Motion Control of Mobile Manipulator

  • Phan, Tan-Tung (Department of Mechanical Engineering, Pukyong National University) ;
  • Suh, Jin-Ho (Department of Mechanical Engineering, Pukyong National University) ;
  • Kim, Sang-Bong (Department of Mechanical Engineering, Pukyong National University)
  • Published : 2003.10.22
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Abstract

The mobile platform-manipulator discussed in this paper is a three link manipulator mounted on a mobile platform. This mobile manipulator is used for welding operation and it is able to operate in a narrow space. The task of the torch, which is mounted at the end effector of the manipulator, is to track along the seam line and the task of the mobile platform is to move the origin point of the manipulator in order to go away from the singularity of the manipulator’s configuration. In this paper, the path planning for the motion of two subsystems (i.e., the manipulator and the mobile platform) was presented by the decentralized control method. Two controllers for the mobile platform and the manipulator were designed, and the relationship between the independent controllers is its state information. The simulation results are also presented to demonstrate the effectiveness of the control method.

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