Title :
New approach to the control problem of mobile manipulators
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
Abstract :
In the paper a new solution to the trajectory tracking problem of a nonholonomic mobile manipulator with a (2, 0) class mobile platform has been presented. A new control algorithm for the mobile manipulator is introduced and proved.
Keywords :
asymptotic stability; control system synthesis; manipulator dynamics; manipulator kinematics; mobile robots; position control; (2,0) class mobile platform; asymptotic stability; control algorithm; dynamic model; kinematic equations; mobile manipulators; nonholonomic mobile manipulator; trajectory tracking problem; Algorithm design and analysis; Backstepping; Cybernetics; Kinematics; Lyapunov method; Manipulator dynamics; Mobile robots; Surges; Trajectory; Wheels;
Conference_Titel :
Robot Motion and Control, 2002. RoMoCo '02. Proceedings of the Third International Workshop on
Print_ISBN :
83-7143-429-4
DOI :
10.1109/ROMOCO.2002.1177123
