Tracking the Kinematically Optimal Trajectories by Mobile Manipulators
نویسندگان
چکیده
منابع مشابه
Nearest optimal repeatable control strategies for kinematically redundant manipulators
Kinematically redundant manipulators, by deenition, possess an innnite number of generalized inverse control strategies for solving the Jacobian equation. These control strategies are not, in general, repeatable in the sense that closed trajectories for the end eeector do not result in closed trajectories in the joint space. The Lie Bracket Condition (LBC) can be used to check for the possibili...
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The high cost involved in the retrieval and repair of robotic manipulators used for remediating nuclear waste, processing hazardous chemicals, or for exploring space or the deep sea, places a premium on the reliability of the system as a whole. For such applications, kinematically redundant manipulators are inherently more reliable since the additional degrees of freedom (DOF) may compensate fo...
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This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat 's lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired traje...
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ژورنال
عنوان ژورنال: Journal of Intelligent & Robotic Systems
سال: 2018
ISSN: 0921-0296,1573-0409
DOI: 10.1007/s10846-018-0868-7