A Framework for the Control of Nonholonomic Mobile Manipulators
نویسندگان
چکیده
منابع مشابه
A Framework for the Control of Nonholonomic Mobile Manipulators
A general framework for the feedback control of mobile manipulators is proposed. Its main originality lies in its capacity to address in a unified manner both cases of omnidirectional and nonholonomic mobile platforms. It also allows for the execution of the desired manipulation task without the manipulator colliding into its joint limits, whenever these two objectives are compatible. This is o...
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In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...
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This paper discusses the trajectory following issue for redundant nonholonomic mobile modular manipulators. Dynamic model is established and an adaptive neural-network controller is developed to control the end-effector to follow a desired spacial trajectory. The proposed algorithm doesn’t need any priori dynamics and provides a new solution for stabilization of redundant robotic selfmotions. S...
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The development of a robot requires that it be able to adopt as many configurations as possible using limited modules, so as to allow the construction of new types of robots without redesign and remanufacturing. Traditionally, modular manipulators are mounted on a fixed base whose mobility is constrained. However, with the development of industry and technology, such modular manipulators as mou...
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|A nonholonomic motion planner for mobile manipulators moving in cluttered environments is presented. The approach is based on a discontinous feedback law under the infuence of a special potential eld. Convergence is shown via Lyapunov's direct method. Utilizing redundancy, the methodology allows the system to perform secondary, connguration dependent, objectives such as singularity avoidance. ...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2006
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364906068374