Robust Control of Wheeled Mobile Manipulators Using Hybird Joints
نویسندگان
چکیده
منابع مشابه
Robust Control of Wheeled Mobile Manipulators Using Hybird Joints
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid join...
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ژورنال
عنوان ژورنال: International Journal of Advanced Robotic Systems
سال: 2008
ISSN: 1729-8814,1729-8814
DOI: 10.5772/5656