Báo Cáo Application of robust control to mobile manipulator

Application of robust control to mobile manipulatorIn this paper a robust control is applied to a two-wheeled mobile manipulator (WMM) to follow a
smooth curved trajectory and pick an object in the 3D workplace. The dynamic motion equation of the
mobile manipulator is derived taking into account parametric uncertainties, external disturbances, and
the dynamic interactions between the mobile platform and the manipulator; then, a robust controller is
derived based on the bounded conditions of the parameters of the total system. In addition, an USB
camera is used to detect the object’s coordinates in 3D space, and a practical method of camera
calibration is introduced for detecting the relative position between the object and the camera which is
needed for the manipulator to pick it. Also, a combined system which composed of a computer and a
multi-dropped PIC-based controller is developed using USB-CAN communication to meet the
performance of demand of the whole system. What’s more, the simulation results are included to
illustrate the performance of the robust control strategy and the camera calibration method as well.