Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control
A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC) is proposed as an approach for the robust motion control of a mobile manipulator (MM) comprising a differentially driven wheeled mobile platform with a two-link planar arm mounted on top of the platform. The...
Main Authors: | , , |
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Format: | Article |
Language: | English |
Published: |
SAGE Publishing
2008-11-01
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Series: | International Journal of Advanced Robotic Systems |
Subjects: | |
Online Access: | http://www.intechopen.com/articles/show/title/robust_motion_control_for_mobile_manipulator_using_resolved_acceleration_and_proportional-integral_a |