Intelligent active force control for mobile manipulator

This thesis presents a resolved acceleration control (RAC) and intelligent schemes of active force control (AFC) as approaches for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platfo...

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Main Author:	Pitowarno, Endra
Format:	Thesis
Language:	English
Published:	2006
Subjects:	TJ Mechanical engineering and machinery
Online Access:	http://eprints.utm.my/id/eprint/2072/1/EndraPitowarnoPFKM2006.pdf
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id	my-utm-ep.2072
record_format	uketd_dc
spelling	my-utm-ep.20722018-06-13T07:05:15Z Intelligent active force control for mobile manipulator 2006-02 Pitowarno, Endra TJ Mechanical engineering and machinery This thesis presents a resolved acceleration control (RAC) and intelligent schemes of active force control (AFC) as approaches for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the intelligent schemes are implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The proposed intelligent schemes are based on iterative learning control (ILC) and knowledge-based fuzzy (KBF) strategies. The effectiveness and robustness of the proposed schemes are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of applied constant, vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control schemes compared to other systems considered in the study 2006-02 Thesis http://eprints.utm.my/id/eprint/2072/ http://eprints.utm.my/id/eprint/2072/1/EndraPitowarnoPFKM2006.pdf application/pdf en public phd doctoral Universiti Teknologi Malaysia, Faculty of Mechanical Engineering Faculty of Mechanical Engineering
institution	Universiti Teknologi Malaysia
collection	UTM Institutional Repository
language	English
topic	TJ Mechanical engineering and machinery
spellingShingle	TJ Mechanical engineering and machinery Pitowarno, Endra Intelligent active force control for mobile manipulator
description	This thesis presents a resolved acceleration control (RAC) and intelligent schemes of active force control (AFC) as approaches for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The study emphasizes on the integrated kinematic and dynamic control strategy in which the RAC is used to manipulate the kinematic component while the intelligent schemes are implemented to compensate the dynamic effects including the bounded known/unknown disturbances and uncertainties. The proposed intelligent schemes are based on iterative learning control (ILC) and knowledge-based fuzzy (KBF) strategies. The effectiveness and robustness of the proposed schemes are investigated through a rigorous simulation study and later complemented with experimental results obtained through a number of experiments performed on a fully developed working prototype in a laboratory environment. A number of disturbances in the form of applied constant, vibratory and impact forces are deliberately introduced into the system to evaluate the system performances. The investigation clearly demonstrates the extreme robustness feature of the proposed control schemes compared to other systems considered in the study
format	Thesis
qualification_name	Doctor of Philosophy (PhD.)
qualification_level	Doctorate
author	Pitowarno, Endra
author_facet	Pitowarno, Endra
author_sort	Pitowarno, Endra
title	Intelligent active force control for mobile manipulator
title_short	Intelligent active force control for mobile manipulator
title_full	Intelligent active force control for mobile manipulator
title_fullStr	Intelligent active force control for mobile manipulator
title_full_unstemmed	Intelligent active force control for mobile manipulator
title_sort	intelligent active force control for mobile manipulator
granting_institution	Universiti Teknologi Malaysia, Faculty of Mechanical Engineering
granting_department	Faculty of Mechanical Engineering
publishDate	2006
url	http://eprints.utm.my/id/eprint/2072/1/EndraPitowarnoPFKM2006.pdf
_version_	1747814396019605504

Intelligent active force control for mobile manipulator

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