Robust Adaptive Sliding Mode Control for Mobile Manipulators
نویسندگان
چکیده
A Mobile manipulator consists of a mobile platform carrying a standard robotic arm. Such robotic system merges the dexterity of the manipulator with the increased workspace capabilities of the mobile platform and thus is particularly suited for field and service robotic applications which require both locomotion and manipulation abilities. A number of papers have been presented to address the issue of the trajectory tracking of mobile manipulators, for example the nonlinear feedback control [1], computed torque control [2], decoupled task and null space dynamic control [3], input output decoupling control [4].
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