Adaptive Neural-Network Control for Redundant Nonholonomic Mobile Modular Manipulators
نویسندگان
چکیده
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. Simulation results for a real robot demonstrate the proposed algorithm is effective.
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تاریخ انتشار 2005