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....
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
Polish Academy of Sciences
2017-12-01
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| Series: | Archives of Control Sciences |
| Subjects: | |
| Online Access: | http://www.degruyter.com/view/j/acsc.2017.27.issue-4/acsc-2017-0029/acsc-2017-0029.xml?format=INT |