Decentralized Control Design for Welding Mobile Manipulator

Tan Tung Phan; Tan Lam Chung; Manh Dung Ngo; Hak Kyeong Kim; Sang Bong Kim

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자료유형: 학술저널

저자정보: Tan Tung Phan Tan Lam Chung Manh Dung Ngo Hak Kyeong Kim Sang Bong Kim

저널정보: 대한기계학회 Journal of Mechanical Science and Technology Journal of Mechanical Science and Technology Vol.19 No.3

발행연도: 2005.3

수록면: 756 - 767 (12page)

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이 논문의 연구 히스토리 (2)

2005

Decentralized Control Design for Welding Mobile Manipulator

Tan Tung Phan , Tan Lam Chung , Manh Dung Ngo 외 2명 Journal of Mechanical Science and Technology 2005.03 학술저널

2003

Decentralized Control for Welding Mobile Manipulator Robot

Tan Tung Phan , Thien Phuc T , an 외 3명 한국동력기계공학회 학술대회 논문집 2003.11 학술대회자료

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This paper presents a decentralized motion control method of welding mobile manipulators which use for welding in many industrial fields Major requirements of welding robots are accuracy, robust, and reliability so that they can substitute for the welders in hazardous and worse environment. To do this, the manipulator has to take the torch tracking along a welding trajectory with a constant velocity and a constant heading angle, and the mobile-platform has to move to avoid the singularities of the manipulator in this paper, we develop a kinematic model of the mobile-platform and the manipulator as two separate subsystems With the idea that the manipulator can avoid the singularities by keeping its initial configuration m the welding process, the redundancy problem of system is solved by introducing the platform mobility to realize this idea Two controllers for the mobile-platform and the manipulator were designed, respectively, and the relationships between two controllers are the velocities of two subsystems Control laws are obtained based on the Lyapunov function to ensure the asymptotical stability of the system The simulation and experimental results show the effectiveness of the proposed controllers.

참고문헌 (12)

참고문헌 신청

Bayle, B, Fourquet, I Y, Lamiraux, F and Renaud, M, 2002, "Kinematic Control of Wheeled Mobile Manipulators," Proc IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol 2, pp 1572~1577

Bui, T H, Chung, T L and Kim, S B, 2003, "Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot with Smooth Curved Welding Path," KSME International Journal, Vol 17, No 1, pp 1682~1692

Carrikei, W F, Khosla, P K and Krogh, B H, 1990, "The Use of Simulated Annealing to Solve The Mobile Manipulator Path Planning Problem," Proc IEEE International Conference on Robotics and Automation, pp 204~209

Hootsmans, N A M, and Dubowsky, S, 1991, "Large Motion Control of Mobile Manipulator Including Vehicle Suspension Characteristics," Proc IEEE International Conference on Robotics and Automation, pp 2336~2341

Jeon, Y B, Kam, B O, Park, S S and Kim, S B, 2002, "Modeling and Motion Control of Mobile Robot for Lattice Type Welding," KSME International Journal, Vol 16, No 1, pp 83~93

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