Mobile robot and manipulator of cimec lab
| Type of publication: | Proceedings |
| Citation: | |
| Booktitle: | Hội nghị Khoa Học và Công Nghệ lần thứ 11 |
| Series: | 11 |
| Year: | 2009 |
| Month: | October |
| Publisher: | Nhà xuất bản Đại Học Quốc Gia |
| Organization: | Trường Đại Học Bách Khoa - Đại Học Quốc Gia thành phố Hồ Chí Minh |
| Address: | 268 Lý Thường Kiệt, Quận 10, Tp Hồ Chí Minh |
| Abstract: | This author has been developed various mobile robots and manipulators of application field by CIMEC Lab. in Pukyong national university so far. The CIMEC Lab. researches on control theory and application on a mobile manipulator robot. The mobile manipulator robot consists of simple mobile manipulator, PUMA-typed mobile manipulator and SCARA-typed mobile manipulator. Firstly, the simple manipulator works on planned trajectory. It can achieve tracking a reference point which is moving on a smooth curved path with a desired constant velocity. Secondly, PUMA and SCARA mobile manipulators have to take the torch tracking along a welding trajectory with a constant velocity and heading angle. And the mobile-platform has to move to avoid the singularities of the manipulator. The controllers are designed based on many techniques such as robust control, sliding mode control and etc. The stability of the robot system is proved using the Lyapunov stability theory. The modeling and experimental results of each mobile manipulator are shown to prove the effectiveness of the proposed controllers. This talk will discuss on the aspect of the research approaches in application robotics. |
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| Total mark: | 0 |
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