DYNAMIC BALANCING OF AN UNDER-ACTUATED DIFFERENTIAL TWO WHEELEDMANIPULATORBY A REACTION WHEEL

In this article, a new stabilizing mechanism for a two wheel robot is proposed. Such systems, due to inherent instability, require dynamic stabilization. The conventional method for stabilizing these robots is moving the base back and forth, to use its inertia effects. Therefore, such strategies drastically depend on the ground surface, besides the robot is not able to reconfigure its manipulator to do any desired task. These limitations reduce the capability of the robot to manipulate objects, and to perform accurate tasks. In order to omit these restrictions, in the developed mechanism, a reaction wheel is used. The proposed mechanism exploits the inertia moment of reaction wheel to stabilize motion of the robot. Therefore, since there is no interaction between the reaction wheel and the ground surface, by using this mechanism there would be no concern about the surface that the robot moves on that. Also, manipulator of the robot can track the given trajectories, without considering stability limitations. In order to show the performance of proposed mechanism, a verified dynamics model of the robot is used and the control algorithm with various initial conditions is simulated.

[1]  Toshiyuki Murakami,et al.  Multi-task control for dynamically balanced two-wheeled mobile manipulator through task-priority , 2011, 2011 IEEE International Symposium on Industrial Electronics.

[2]  Toshiyuki Murakami,et al.  An Approach to Self Stabilization of Bicycle Motion by Handle Controller , 2005 .

[3]  Hoa G. Nguyen,et al.  Segway robotic mobility platform , 2004, SPIE Optics East.

[4]  Toshiyuki Murakami,et al.  A robust control of two-wheeled mobile manipulator with underactuated joint by nonlinear backstepping method , 2010 .

[5]  A. Avello,et al.  Swing-up control problem for a self-erecting double inverted pendulum , 2002 .

[6]  Hiroshi Ishiguro,et al.  Human-like natural behavior generation based on involuntary motions for humanoid robots , 2004, Robotics Auton. Syst..

[7]  Jian-Qiang Yi,et al.  Double-pendulum-type overhead crane dynamics and its adaptive sliding mode fuzzy control , 2004, Proceedings of 2004 International Conference on Machine Learning and Cybernetics (IEEE Cat. No.04EX826).

[8]  Amit Ailon,et al.  Mobile robot characterized by dynamic and kinematic equations and actuator dynamics: Trajectory tracking and related application , 2011, Robotics Auton. Syst..

[9]  Roderic A. Grupen,et al.  Static analysis of contact forces with a mobile manipulator , 2006, Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006..

[10]  Alfred C. Rufer,et al.  JOE: a mobile, inverted pendulum , 2002, IEEE Trans. Ind. Electron..

[11]  R. Agarwal,et al.  A linear-interpolation-based controller design for trajectory tracking of mobile robots , 2010 .

[12]  Amir Takhmar,et al.  Cartesian Approach for Gait Planning and Control of Biped Robots on Irregular Surfaces , 2009, Int. J. Humanoid Robotics.

[13]  Nicholas R. Gans,et al.  Visual Servo Velocity and Pose Control of a Wheeled Inverted Pendulum through Partial-Feedback Linearization , 2006, 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems.

[14]  Drago Matko,et al.  A control strategy for platoons of differential drive wheeled mobile robot , 2011, Robotics Auton. Syst..

[15]  Li-Chen Fu,et al.  Passivity based control of the double inverted pendulum driven by a linear induction motor , 2003, Proceedings of 2003 IEEE Conference on Control Applications, 2003. CCA 2003..

[16]  S. Ali A. Moosavian,et al.  Multiple Impedance Control for Space Free-Flying Robots , 2005 .

[17]  S. Ali A. Moosavian,et al.  How to ensure stable motion of suspended wheeled mobile robots , 2011, Ind. Robot.

[18]  T. Murakami,et al.  Pushing operation by two-wheel inverted mobile manipulator , 2008, 2008 10th IEEE International Workshop on Advanced Motion Control.

[19]  Kaustubh Pathak,et al.  Velocity and position control of a wheeled inverted pendulum by partial feedback linearization , 2005, IEEE Transactions on Robotics.

[20]  Shui-Chun Lin,et al.  Adaptive Neural Network Control of a Self-balancing Two-wheeled Scooter , 2007, IECON 2007 - 33rd Annual Conference of the IEEE Industrial Electronics Society.

[21]  Rodney A. Brooks,et al.  Sensing and Manipulating Built-for-Human Environments , 2004, Int. J. Humanoid Robotics.

[22]  Takayuki Furuta,et al.  Design and construction of a series of compact humanoid robots and development of biped walk control strategies , 2001, Robotics Auton. Syst..

[23]  Spyros G. Tzafestas,et al.  Switching fuzzy tracking control for mobile robots under curvature constraints , 2011 .