Control of Mobile Manipulators including Vehicle Dynamic Characteristics
نویسندگان
چکیده
The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when conventional fixed-base controllers, which neglect these interactions, are used. An extended jacobian transpose control algorithm is developed, which accounts for dynamic vehicle motions caused by manipulator motions. It is shown to perform well, even in the presence of modeling errors and using only limited sensory data, such as would be practically available in highly unstructured field environments.
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