Stability improvement of two wheel mobile manipulator by real time gain control technique

摘要

Two wheeled mobile manipulator has significant role in industry as well as domestic environment when working space of robot is limited. On the other hand, improvement of two wheeled vehicle will explore the technology to improve welfare like wheelchair robot and industrial robots. Two wheeled mobile manipulator has been already implemented using inverted pendulum control. However, dynamic stability has to be improved further. And also, trajectory error has to be minimized. This paper propose the method to improve the stability of the robot by changing the controller gains on runtime based on the robot parameter during the running. Disturbance observer has been employed to cancel the disturbances.