Discrete-Time Computed Torque Control with PSO-Based Tuning for Energy-Efficient Mobile Manipulator Trajectory Tracking

Mobile manipulator robots have an increasing number of applications in industry because they extend the workspace of a fixed base manipulator mounted on a mobile platform, making it important to further investigate their control and optimization. This paper presents an implementation proposal for a...

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Bibliografische Detailangaben

Hauptverfasser:	Patricio Galarce-Acevedo, Miguel Torres-Torriti
Format:	Artigo
Sprache:	Inglês
Veröffentlicht:	MDPI AG 2026-01-01
Schriftenreihe:	Robotics
Schlagworte:	computed torque mobile manipulator discrete control optimization modeling particle swarm optimization
Online-Zugang:	https://www.mdpi.com/2218-6581/15/1/19
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