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Research Papers

A New Stabilization Algorithm for a Two-Wheeled Mobile Robot Aided by Reaction Wheel

[+] Author and Article Information
S. Reza Larimi

Advanced Robotics and Automated
Systems Laboratory,
Department of Mechanical Engineering,
Center of Excellence in Robotics and Control,
K. N. Toosi University of Technology,
Tehran, Iran
e-mail: reza_larimi@yahoo.com

Payam Zarafshan

Assistant Professor
Department of Agro-Technology,
College of Aburaihan,
University of Tehran,
Pakdasht, Tehran, Iran
e-mail: p.zarafshan@ut.ac.ir

S. Ali A. Moosavian

Professor
Advanced Robotics and Automated
Systems Laboratory,
Department of Mechanical Engineering,
Center of Excellence in Robotics and Control,
K. N. Toosi University of Technology,
Tehran, Iran
e-mail: moosavian@kntu.ac.ir

Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received September 27, 2013; final manuscript received June 9, 2014; published online August 28, 2014. Assoc. Editor: Hashem Ashrafiuon.

J. Dyn. Sys., Meas., Control 137(1), 011009 (Aug 28, 2014) (8 pages) Paper No: DS-13-1391; doi: 10.1115/1.4027852 History: Received September 27, 2013; Revised June 09, 2014

The concept of two-wheeled mobile manipulator (TWMM) has been proposed for its significant advantage due to high maneuverability particularly in confined internal spaces. However, its unbalanced structure imposes restrictions for widespread application. Note that the nonholonomic property of a TWMM makes its control a more challenging task. In this paper, a new stabilization mechanism of TWMM is presented, and a new control method based on dynamical balancing algorithm is proposed that could effectively resolve those restrictions. To this end, a reaction wheel is considered to control the position of center of gravity (COG), leading to a smoother motion of the robot manipulator. To make the robot be able to manipulate an object, a double inverted pendulum model (DIPM) is considered as a simplified model of the system. DIPM dynamics is used to identify and simplify the dynamics of TWMM and subsequently a supervisory control is employed to stabilize the robot via its COG position. This in turn improves the robustness of the proposed algorithm during manipulation maneuver of an object with unknown mass parameters. Results are compared to those of an ideal model-based algorithm that reveal the merits of the proposed control strategy.

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Figures

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Fig. 1

A perspective model of two-wheeled mobile manipulation with a reaction wheel

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Fig. 2

Schematic of the lateral view of the assumed TWMM

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Fig. 3

Simplified model of the TWMM (virtual double inverted pendulum)

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Fig. 4

Block diagram of the proposed control algorithm (nonmodel-based)

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Fig. 5

(a) Simplified model of the robot and specifying the COG on it and (b) estimating the COG direction state, for evaluation of the reaction wheel acceleration and velocity

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Fig. 6

Block diagram of the model-based control algorithm

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Fig. 7

Trajectories of the passive joint motion for the ideal model-based and proposed algorithms

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Fig. 8

Trajectories of the reaction wheel motion for the ideal model-based and proposed algorithms

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Fig. 9

Torques applied to the reaction wheel for the ideal model-based and proposed algorithms

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Fig. 10

An animated view of the robot motion during 15 s of simulation

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Fig. 11

Acceleration profile of the desired motion

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Fig. 12

Trajectories of the passive joint motion for the ideal model-based and proposed algorithms

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Fig. 13

Trajectories of the reaction wheel motion for the ideal model-based and proposed algorithms

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Fig. 14

Torques applied to the reaction wheel for the ideal model-based and proposed algorithms

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Fig. 15

An animated view of the robot motion during 60 s of simulation

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