Computed-Torque Control of a Wheeled Mobile Manipulator

Predictive Computed-torque Control of a Puma 560 Manipulator Robot

Abstract: This paper describes the integration of constrained predictive control and computed-torque control, and its application on a six degree-of-freedom PUMA 560 manipulator arm. The real-time implementation was based on SIMULINK, with the predictive controller and the computed-torque control law implemented in the C programming language. The constrained predictive controller solved a quadr...

Robust Torque Control of Wheeled Mobile Robots with Kinematic Disturbances

تابر مواقم لرتنك هلاقم نيا رد ينيعمان و يجراخ تاشاشتغا دوجو اب رايس ياه متسيس يرتماراپ ياه كيمونولوهريغ يكيتامنيس ديق هك يكيمانيد ١ ار شزغل مدع هدروآرب يمن تسا هتفرگ رارق يسررب دروم ،دننك . هدش زكرمتم يكيتامنيس لرتنك يحارط يور رب هك يلبق ياهراك فلاخرب ساسا رب رواتشگ مواقم رلرتنك كي ،دنا هب ،ميظنت لباق ناسون سناكرف اب اريم كيمانيد رگناسون هناگي شور كي تروص ٢ يبايدر هلأسم ود ره يارب ابر يزا...

Dynamic Modeling and Construction of a New Two-Wheeled Mobile Manipulator: Self-balancing and Climbing

Designing the self-balancing two-wheeled mobile robots and reducing undesired vibrations are of great importance. For this purpose, the majority of researches are focused on application of relatively complex control approaches without improving the robot structure. Therefore, in this paper we introduce a new two-wheeled mobile robot which, despite its relative simple structure, fulfills the req...

Virtual teleoperation and reactive motion of a wheeled mobile manipulator

Kinematic Control of a Nonholonomic Wheeled Mobile Manipulator – a Differential Flatness Approach

This paper presents an integrated motion planning and control framework for a nonholonomic wheeled mobile manipulator (WMM) system taking advantage of the (differential) flatness property. We first develop the kinematic model of the system and analyze its flatness properties. Subsequently, a statically feedback linearizable system description is developed by appropriately choosing the flat outp...