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Báo cáo nghiên cứu khoa học: "USING ADAPTIVE CONTROL TO SOLVE THE TRACKING PROBLEM FOR A MOBILE MANIPULATOR"

Trong bài báo này, sự kiểm soát của một tay máy điện thoại di động để theo dõi quỹ đạo hàn 3Dcurved mịn được thảo luận. Trường hợp này có thể được tìm thấy trong bất kỳ nhà máy chế biến kim loại, chẳng hạn như nhà máy đóng tàu và tiền chế nhà máy kết cấu kim loại. | TẠP CHÍ PHÁT TRIỂN KH CN TẬP 11 SÓ 03 - 2008 USING ADAPTIVE CONTROL TO SOLVE THE TRACKING PROBLEM FOR A MOBILE MANIPULATOR Tran Thien Phuc University of Technology VNU-HCM Manuscript Received on November 01st 2007 Manuscript Revised March 03rd 2008 ABSTRACT In this paper the control of a mobile manipulator for tracking smooth 3D-curved welding trajectory is discussed. This case can be found in any metal processing factories such as ship building factories and pre-fabricated metal structure factories. The mobile manipulator is made up of a multilink manipulator and a two-wheeled mobile platform. The kinematic modeling and the constraints for both the platform and the manipulator are discussed. Based on these modeling an adaptive control algorithm for the welding mobile manipulator is proposed. A candidate Lyapunov function is also introduced for proving the stability of system upon the adaptive algorithm. For increasing the flexibility of system the control of system with unknown parameter such as the arc length of the torch is considered and an update control law based on the adaptive back-stepping method is proposed. In this paper the numerical simulation results are shown to illustrate the validity of the proposed algorithm. The experiments are also performed for getting the good values ofparameters and proving the feasibility that a mobile manipulator is applied to a 3D smooth curve welding task. Keywords Mobile manipulator 3D smooth curve welding task unknown parameter update control law adaptive back-stepping method. 1. INTRODUCTION Recently a mobile manipulator has been widely used in various industrial fields such as ship building industry automobile industry electronic assembling and pre-fabricated metal structure industry. Furthermore it can be applied to works in the hazardous environments such as waste management and treatment desolate exploration and even space operation. Especially the mobile robots are extensively used in industry for resistance and .