Get 20M+ Full-Text Papers For Less Than $1.50/day. Start a 14-Day Trial for You or Your Team.

Learn More →

Position-force control of mobile manipulator – nonadaptive and adaptive case

Position-force control of mobile manipulator – nonadaptive and adaptive case AbstractThis article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Archives of Control Sciences de Gruyter

Position-force control of mobile manipulator – nonadaptive and adaptive case

Loading next page...
 
/lp/de-gruyter/position-force-control-of-mobile-manipulator-nonadaptive-and-adaptive-uP0ZN7oHVt

References (17)

Publisher
de Gruyter
Copyright
© 2017 Mirela Kaczmarek et al., published by De Gruyter Open
ISSN
2300-2611
eISSN
2300-2611
DOI
10.1515/acsc-2017-0029
Publisher site
See Article on Publisher Site

Abstract

AbstractThis article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

Journal

Archives of Control Sciencesde Gruyter

Published: Dec 1, 2017

There are no references for this article.