DocumentCode
1817829
Title
Influence of mathematical model selection on control signals for mobile manipulator with skid-steering mobile platform
Author
Cholewinski, Mateusz ; Domski, Wojciech ; Mazur, Alicja
Author_Institution
Electron. Fac., Wroclaw Univ. of Technol., Wrocław, Poland
fYear
2015
fDate
6-8 July 2015
Firstpage
64
Lastpage
71
Abstract
In the paper the skid-steering mobile platform has been considered. Such object should be treated as an underactuated system. Artificial force method has been used as a solution for controlling an underactuated system on the dynamic level. The paper presents the influence of different methods of modeling, based on artificial force method, on the system´s behavior, especially on control signals.
Keywords
manipulator dynamics; mobile robots; artificial force method; control signals; dynamic level; mathematical model selection; mobile manipulator; skid-steering mobile platform; system behavior; underactuated system; Dynamics; Force; Kinematics; Manipulator dynamics; Mathematical model; Mobile communication;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location
Poznan
Type
conf
DOI
10.1109/RoMoCo.2015.7219715
Filename
7219715
Link To Document