Control of two Wheeled Welding Mobile Manipulator

International Journal of Advanced Robotic Systems

关键词: manipulator;    mobile platform;    decentralized motion controller;    kinematic controller;    sliding mode controller;    Lyapunov's function;   

DOI  :  10.5772/5685

学科分类：自动化工程

来源: InTech

【 摘 要 】

A three-linked manipulator mounted on a two-wheeled mobile platform is used to weld a long curved welding path. A welding torch mounted at the end of a manipulator of the welding mobile manipulator (WMM) must be controlled for tracking a welding path with constant velocity and constant welding angle of torch. In this paper, a decentralized control method is applied to control the WMM considered as two separate subsystems such as a mobile platform and a manipulator. Two decentralized motion controllers are designed to control two subsystems of WMM, respectively. Firstly, based on a tracking error vector of the manipulator and a feedback motion of the mobile platform, a kinematic controller is designed for manipulator. Secondly, based on an another tracking error vector of the mobile platform and a feedback angular velocities of revolution joints of three-link, a sliding mode controller is designed for the mobile platform. These controllers are obtained based on the Lyapunov's function and its stability con...

【 授权许可】

CC BY