Robust Control of Wheeled Mobile Manipulators Using Hybird Joints | Zendy

Zhijun Li | Zendy; Weidong Chen | Zendy; Hong Liu | Zendy

AI Assistant Blog Pricing

Home ZAIA Blog

Open Access

Robust Control of Wheeled Mobile Manipulators Using Hybird Joints

Author(s) -

Zhijun Li,

Weidong Chen,

Hong Liu

Publication year - 2008

Publication title -

international journal of advanced robotic systems

Language(s) - English

Resource type - Journals

SCImago Journal Rank - 0.394

H-Index - 46

eISSN - 1729-8814

pISSN - 1729-8806

DOI - 10.5772/5656

Subject(s) - control theory (sociology) , holonomic constraints , computer science , nonholonomic system , constraint (computer aided design) , trajectory , holonomic , manifold (fluid mechanics) , stability theory , passivity , control (management) , robot , mobile robot , mathematics , artificial intelligence , mechanical engineering , physics , geometry , electrical engineering , classical mechanics , nonlinear system , astronomy , quantum mechanics , engineering

In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid joint rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force

The content you want is available to Zendy users.

Already have an account? Click here to sign in.

Having issues? You can contact us here

Accelerating Research