Details

Title

Position-force control of mobile manipulator – nonadaptive and adaptive case

Journal title

Archives of Control Sciences

Yearbook

2017

Numer

No 4

Publication authors

Divisions of PAS

Nauki Techniczne

Abstract

<jats:title>Abstract</jats:title> <jats:p>This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.</jats:p>

Publisher

Committee of Automatic Control and Robotics PAS

Date

2017

Identifier

ISSN 1230-2384

References

Mazur (2009), Model - based control for nonholonomic mobile manipulators Printing House of Wrocław University of Technology in Polish, null. ; Millsand (1989), Force and position control of manipulators during constrained motion tasks on Robotics and Automation, IEEE Trans, 5, 30. ; Suand (1994), Robust motion / force control of mechanical systems with classical nonholonomic constraints on Automatic Control, IEEE Trans, 11, 609. ; Mazur (null), Position and force control of mobile manipulator pages in Polish Printing House of Warsaw University of Technology, null, 257. ; Villaniand (2008), Force control In editors Handbook of Robotics, null, 12, 161. ; Campion (1996), Structural properties and classification of kinematic and dynamic models of wheeled mobile robots on Robotics and Automation, IEEE Trans, 12, 1. ; Canudas (1996), deWit Theory of Robot Control, null. ; Früh (2007), Intelligent Mobile Manipulators in Industrial Applications Experiences and Challenges pages, null, 370. ; Li (2007), Adaptive robust motion / force control of holonomic - constrained nonholonomic mobile manipulators on Systems Man part, IEEE Trans Cybernetics Cybernetics, 37, 607.

DOI

10.1515/acsc-2017-0029

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