On path following control of nonholonomic mobile manipulators
نویسندگان
چکیده
منابع مشابه
On path following control of nonholonomic mobile manipulators
This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, an...
متن کاملTrajectory Tracking Control for Nonholonomic Mobile Manipulators
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...
متن کاملOn Coordinated Tasks for Nonholonomic Mobile Manipulators
This paper deals with coordinated tasks for mobile nonholonomic manip-ulators. The systems are composed of a nonholonomic mobile platform and a simple kinematic chain holonomic arm. First, concepts such that redundancy and singular conngurations are deened. Then, reduced diierential models are introduced. It is then possible to work with a set of independant task coordinates. Applications follo...
متن کاملOn Contact Transition for Nonholonomic Mobile Manipulators
This work is devoted to planning and execution of complex missions in Robotics. Robotics has evolved from an industrial, repetitive framework to application domains with much more variability of tasks, with increasing complexity in uncertain environment. This is clearly the case for Service Robotics e.g. but even industrial robots have now to work in environment not totally calibrated for the t...
متن کاملNonholonomic navigation and control of cooperating mobile manipulators
This paper presents the first motion planning methodology applicable to articulated, non-point nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions (DILFs) and a novel extension of the navigation function method to account for non-point articulated robots. The Dipolar Inverse Lyapunov Functions introduced ...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: International Journal of Applied Mathematics and Computer Science
سال: 2009
ISSN: 1641-876X
DOI: 10.2478/v10006-009-0044-0