Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

Robust Motion Control for Mobile Manipulator Using Resolved Acceleration and Proportional-Integral Active Force Control

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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...

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Bibliographic Details
Main Authors: Endra Pitowarno, Musa Mailah, Hishamuddin Jamaluddin
Format: Article
Language:English
Published: SAGE Publishing 2008-11-01
Series:International Journal of Advanced Robotic Systems
Subjects:
mobile manipulator
robust motion control
resolved acceleration control
active force control.
Online Access:http://www.intechopen.com/articles/show/title/robust_motion_control_for_mobile_manipulator_using_resolved_acceleration_and_proportional-integral_a

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