Name
Abstract | ||
|---|---|---|
In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and non-holonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and constraint force control is developed using the passivity of hybrid joints rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force. |
Year | DOI | Venue |
|---|---|---|
2007 | 10.1163/156855307781503754 | ADVANCED ROBOTICS |
Keywords | Field | DocType |
Nonholonomic mobile manipulators,motion,force control,holonomic constraints,hybrid joints | Passivity,Motion control,Holonomic,Holonomic constraints,Control theory,Control engineering,Engineering,Nonholonomic system,Trajectory,Haptic technology,Manifold | Journal |
Volume | Issue | ISSN |
21 | 11 | 0169-1864 |
Citations | PageRank | References |
7 | 0.61 | 6 |
Authors | ||
5 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| Zhijun Li | 1 | 131 | 6.74 |
| Chenguang Yang | 2 | 2213 | 138.71 |
| Jun Luo | 3 | 123 | 21.77 |
| Zhuping Wang | 4 | 182 | 20.66 |
| Aiguo Ming | 5 | 177 | 41.26 |