Balance control of a 12-DOF mobile manipulator based on two-wheel inverted pendulum robot

被引：1
|
作者：
Gang Wang [1 ]
Seunghwan Choi [1 ]
Jangmyung Lee [1 ]
机构：
[1] Dept.of Electrical Engineering,Pusan University,Busan 609-735,Korea
来源：
Journal of Measurement Science and Instrumentation | 2013年 / 01期
关键词：
angle compensation; inverted pendulum; variable centroid; humanoid;
D O I：
暂无
中图分类号：
TP242 [机器人];
学科分类号：
1111 ;
摘要：
Humanoid mobile manipulator which is based on two-wheel inverted pendulum robot has been studied.Balance control is a key problem for this kind of centroid-variable robot.Due to the principle of two wheel inverted pendulum,a timely angle compensation is necessary to make the system keep balance when the centroid changes.In this paper,a method based on coordinate transformation is introduced to get the compensatory angle and a 12-DOF mobile manipulator is also used to check the method.Simulation and experimental results show the effectiveness of the method.
引用
收藏
页码：52 / 57
页数：6
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