Wyniki wyszukiwania - BazTech

Ograniczanie wyników

Znaleziono wyników: 1

Liczba wyników na stronie

Wyniki wyszukiwania

Wyszukiwano:
w słowach kluczowych: bezkolizyjne sterowanie

Sortuj według:

Ogranicz wyniki do:

Generating the controls for mobile manipulators subject to state constraints

Galicki M.

International Journal of Applied Mechanics and Engineering

2011

Vol. 16, no 4

989-1003

This paper addresses the problem of position regulation at the control feed back level of a mobile manipulator. The task is subject to state equality and/or inequality constraints. Based on the Lyapunov stability theory, a class of asymptotically stable controllers fulfilling the above constraints and generating a singularity and collision free mobile manipulator trajectory, is proposed. The problem of singularity and collision avoidance enforcement is solved here based on an exterior penalty function approach which results in continuous and bounded mobile manipulator controls even near boundaries of obstacles. The numerical simulation results carried out for a mobile manipulator consisting of a nonholonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating both in a two-dimensional unconstrained task space and task space including the obstacles, illustrate the performance of the proposed controllers.