SELF-TUNING FUZZY-PID TECHNIQUE FOR MOBILE MANIPULATOR ROBOT CONSIDERING CENTRAL MASS

This research discusses the modeling of a 4-wheel mobile platform equipped with a mounted manipulator and proposes the self-tuning Fuzzy-PID control law for the system. A challenge with a Mobile Manipulator occurs when the manipulator performs tasks while the mobile robot is in motion, which changes the location of the center of mass (CoM) and becomes unstable in control. To address this issue, the dynamics modeling is formulated to account for the CoM displacement effect. This modeling approach estimates the effect of CoM on the motion. Based on this model, a suitable Fuzzy-PID control strategy is designed. This controller can improve the motion efficiency and compare the trajectory of the Mobile Manipulator using a conventional PID controller.