Dynamic stability analysis and control for the mobile manipulator

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7 Citations (Scopus)

Abstract

This paper addresses issues of how to develop a small mobile robot controlled by servo motors and DC motors. The control system has been designed which includes the interface circuit, sensor information fusion and control algorithm design. The mechanical dynamic stability has been analyzed since when the manipulator is operated at high speed, the mobile manipulator will overturn easily. This problem was easily ignored by researchers before. This robot with multiple functions of line tracking, obstacle avoiding, light chasing, pumping and evading wilt lay a good foundation for studying the behaviors of mobile robot.
Original languageEnglish
Pages (from-to)554-559
Number of pages6
JournalCanadian Conference on Electrical and Computer Engineering
Volume1
Publication statusPublished - 1 Jan 2002
Externally publishedYes
Event2002 IEEE Canadian Conference on Electrical and Computer Engineering - Winipeg, Manitoba, Canada
Duration: 12 May 200215 May 2002

Keywords

  • Control
  • Dynamic stability
  • Mobile manipulator

ASJC Scopus subject areas

  • Hardware and Architecture
  • Electrical and Electronic Engineering

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