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Conference Paper: Motion control of nonholonomic mobile underactuated manipulator

TitleMotion control of nonholonomic mobile underactuated manipulator
Authors
KeywordsNonholonomic constraints
Passive link
Hybrid joint
Mobile underactuated manipulator
Issue Date2006
Citation
Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3512-3519 How to Cite?
AbstractMotion 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. ©2006 IEEE.
Persistent Identifierhttp://hdl.handle.net/10722/212892
ISSN

 

DC FieldValueLanguage
dc.contributor.authorLi, Zhijun-
dc.contributor.authorMing, Aiguo-
dc.contributor.authorXi, Ning-
dc.contributor.authorShimojo, Makoto-
dc.date.accessioned2015-07-28T04:05:21Z-
dc.date.available2015-07-28T04:05:21Z-
dc.date.issued2006-
dc.identifier.citationProceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3512-3519-
dc.identifier.issn1050-4729-
dc.identifier.urihttp://hdl.handle.net/10722/212892-
dc.description.abstractMotion 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. ©2006 IEEE.-
dc.languageeng-
dc.relation.ispartofProceedings - IEEE International Conference on Robotics and Automation-
dc.subjectNonholonomic constraints-
dc.subjectPassive link-
dc.subjectHybrid joint-
dc.subjectMobile underactuated manipulator-
dc.titleMotion control of nonholonomic mobile underactuated manipulator-
dc.typeConference_Paper-
dc.description.natureLink_to_subscribed_fulltext-
dc.identifier.doi10.1109/ROBOT.2006.1642238-
dc.identifier.scopuseid_2-s2.0-33845670485-
dc.identifier.volume2006-
dc.identifier.spage3512-
dc.identifier.epage3519-

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