Control algorithms for the kinematics and the dynamics of mobile manipulators : a comparative study

• Autorzy: Mazur A.
• Języki publikacji: EN

Abstrakty

EN

In the paper a solution to the trajectory tracking problem of a mobile manipulator has been presented. By the mobile manipulator we mean a holonomic rigid manipulator mounted on a nonholonomic wheeled mobile platform. First, new control algorithms (which are in fact some modifications of known control algorithms for rigid manipulators) for the dynamics of the mobile manipulator have been introduced, and their convergence proved. Next, we show simulation results which illustrate the behaviour of the mobile manipulator subject to a control action using different control algorithms for the dynamics and the kinematics of an RTR manipulator mounted on the platform of the class (2, 0).

Słowa kluczowe

EN

mobile manipulator; dynamics; kinematics; nonholonomic constraint

• Wydawca: Polish Academy of Sciences, Committee of Automatic Control and Robotics
• Czasopismo: Archives of Control Sciences
• Rocznik: 2001
• Tom: Vol. 11, no. 3/4
• Strony: 223--245
• Opis fizyczny: Bibliogr 19 poz., rys., wzory

Twórcy

autor

Mazur A.

• Engineering Cybernetics, Wrocław University of Technology, 50-372 Wrocław, ul.Janiszewskiego 11/17

Bibliografia

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