Name
Abstract | ||
|---|---|---|
Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods. |
Year | DOI | Venue |
|---|---|---|
2006 | 10.1109/ROBOT.2006.1642238 | 2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 |
Keywords | Field | DocType |
nonholonomic constraints, hybrid joint, passive link, mobile underactuated manipulator | Underactuated manipulator,Motion control,Control theory,Control engineering,Engineering,Nonholonomic system,Underactuation,Horizontal plane,Mobile manipulator | Conference |
Volume | Issue | ISSN |
2006 | 1 | 1050-4729 |
Citations | PageRank | References |
9 | 0.72 | 17 |
Authors | ||
4 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhijun Li | 1 | 131 | 6.74 |
| Aiguo Ming | 2 | 177 | 41.26 |
| Ning Xi | 3 | 1422 | 228.89 |
| Makoto Shimojo | 4 | 183 | 42.59 |