A SIMPLE CONTROLLER FOR TWO WHEELED WELDING MOBILE MANIPULATOR

Ngo Manh Dung, Ngo Xuan Khoat

Abstract


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 Lyapunovs function and its stability condition to ensure for the tracking
error vectors to be asymptotically stable. Furthermore, simulation
and experimental results are presented to illustrate the effectiveness of
the proposed algorithm.

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