Motion Control of Mobile-Wheeled Inverted Pendulum Robot with Center-of-Mass Offset

The mobile-wheeled inverted pendulum (MWIP) robot with dual-arm manipulators is an unstable and nonlinear system with multi-variables and strong coupling. This paper proposes an intelligent motion control system to attain the desired position and direction while keeping the MWIP robot balanced. The...

Full description

Saved in:
Bibliographic Details
Published in2018 IEEE International Conference on Systems, Man, and Cybernetics (SMC) pp. 2128 - 2133
Main Authors Kao, Wei-Fu, Hsu, Chun-Fei, Lee, Tsu-Tian
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.10.2018
Subjects
cascade structure
COM offset
dual-arm manipulators
self-balancing robot
vision system
Online AccessGet full text

Cover

More Information
Summary:The mobile-wheeled inverted pendulum (MWIP) robot with dual-arm manipulators is an unstable and nonlinear system with multi-variables and strong coupling. This paper proposes an intelligent motion control system to attain the desired position and direction while keeping the MWIP robot balanced. The control system is comprised of a position controller, a balance control, a direction controller and a COM compensator. A cascade structure, which combines the inner loop of balance control and the outer loop of position control, is illustrated its effectiveness. Since the dual-arm manipulator cannot execute the given motions of the end effector and move the dual-arm stable simultaneously, the COM compensator is designed to eliminate steady state error in the position controller. Finally, the real-time experimental results show that the COM compensator can improve the control performance of station-keeping testing scenario for the MWIP system.
ISSN:2577-1655
DOI:10.1109/SMC.2018.00366