| 203B6 |
|---|
| Control of Manipulators Mounted on Slowly Moving Foundation |
| AUTHORS |
| Seiichiro Takahashi, Makoto Wada, Masahiro Oya (Kyushu Institute of Technology) Toshinori Suehiro (Mechanics and Electronics Research Institute Fukuoka Industrial Technology Center) |
| ABSTRACT |
| Robot manipulators are used in various environment, and in some case, manipulators are mounted on a foundation with an unknown angle of inclination or a moving foundation. The researches dealing with moving foundation are still very few. To establishing a control scheme for the case when robot manipulators are mounted on a moving foundation, in this paper two-link manipulator is considered, and a trajectory tracking controller is proposed in the case when the angle of inclination of the foundation is unknown and slowly moves. It is assumed that all physical parameters of manipulator are known. The absolute angles between horizontal plane and links are needed to make robot manipulator move objects on a horizontal plane. A method to estimate the unknown angle of inclination of the foundation is proposed by using only internal sensors. To show the effectiveness of the proposed controller, numerical simulations are carried out in the case when the angles of inclination are sine waves with frequency 0.1 Hz and 0.2 Hz. |
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Annual Conference 2002