Adaptive Control for Welding Mobile Manipulator with Unknown Dimensional Parameters

This paper presents an adaptive tracking control method for a welding mobile manipulator with a kinematic model in which several unknown dimensional parameters exist. The mobile manipulator consists of the manipulator mounts on a mobile-platform. Based on the Lyapunov function, controllers are desig...

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Bibliographic Details
Main Authors: Nguyen Thanh Phuong, Vo Hoang Duy, Joon Ho Jeong, Hak Kyong Kim, Sang Bong Kim
Format: Conference Proceeding
Language:English
Subjects:
Adaptive control
Automatic control
Equations
Kinematics
Manipulator dynamics
Mechatronics
Mobile robots
Motion control
Programmable control
Welding
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Summary:This paper presents an adaptive tracking control method for a welding mobile manipulator with a kinematic model in which several unknown dimensional parameters exist. The mobile manipulator consists of the manipulator mounts on a mobile-platform. Based on the Lyapunov function, controllers are designed to guarantee stability of the whole system when the end-effector of the manipulator performs a welding task The update laws are also designed to estimate the unknown dimensional parameters. The simulation and experimental results are presented to show the effectiveness of the proposed controllers.
DOI:10.1109/ICMECH.2007.4280052