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J. Ocean Eng. Technol. 2009;23(2):8-17.    

Adaptive Tracking Controller Design for Welding Mobile Manipulator with Unknown Parameters
Kim Sang-Bong,Phan Tan-Tung,Choi Nak-Soon,Kim Hak-Kyeong
Dept. of Mechanical Eng. College of Eng. Pukyong National University,Dept. of Mechanical Eng. Ho Chi Minh City University of Technology,Dept. of Mechanical Eng. College of Eng. Pukyong National University,Dept. of Mechanical Eng. College of Eng. Pu
Copyright © 2009 The Korean Society of Ocean Engineers     Open access / Under a Creative Commons License
Key Words: Adaptive tracking control, Mobile-platform, Manipulator, Welding trajectory
Abstract
This paper presents an adaptive tracking control method for a welding mobile manipulator with several unknown parameters such as the last length of the manipulator, the wheel radius and the distance from the center to the wheel. The mobile manipulator consisted of the manipulator and the mobile-platform. Kinematic modelings for the manipulator and the mobile-platform with several unknown parameters were produced. The tracking error vectors for the manipulator and the mobile-platform were defined. These adaptive controllers were designed based on the Lyapunov function to guarantee the stability of the whole system when the mobile manipulator performs a welding task. Update laws were also designed to estimate the unknown dimensional parameters. To implement the designed controllers, a control system integrated with PIC16F877 microprocessors and a TMS320C32 DSP was developed. Simulation and experimental results are presented to show the effectiveness of the proposed controllers.


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