Position-force control of mobile manipulator – nonadaptive and adaptive case

This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system....

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Bibliografske podrobnosti

Principais autores:	Kaczmarek Mirela, Domski Wojciech, Mazur Alicja
Format:	Artigo
Jezik:	Inglês
Izdano:	Polish Academy of Sciences 2017-12-01
Serija:	Archives of Control Sciences
Teme:	holonomic constraint nonholonomic constraint parametric uncertainty adaptive control
Online dostop:	http://www.degruyter.com/view/j/acsc.2017.27.issue-4/acsc-2017-0029/acsc-2017-0029.xml?format=INT
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