Title :
A universal λ-tracking controller for mobile manipulators
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
Abstract :
This paper presents a new control algorithm for a special class of robotic manipulators, namely a mobile manipulator. The mobile manipulator is a combined system which consists of a rigid manipulator mounted on a wheeled mobile platform. This control algorithm is a modification of the classical PD controller with static gain, which does not employ any specific knowledge of the robot dynamics
Keywords :
closed loop systems; manipulator dynamics; mobile robots; motion control; tracking; two-term control; PD controller; closed-loop system; holonomic systems; mobile manipulator; robot dynamics; universal tracking controller; wheeled mobile platform; Adaptive control; Control systems; Cybernetics; Equations; Error correction; Manipulator dynamics; Mobile robots; PD control; Robot control; Wheels;
Conference_Titel :
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location :
Bukowy Dworek
Print_ISBN :
83-7143-515-0
DOI :
10.1109/ROMOCO.2001.973448
