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- Publisher Website: 10.1109/ROBOT.2006.1642238
- Scopus: eid_2-s2.0-33845670485
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Conference Paper: Motion control of nonholonomic mobile underactuated manipulator
| Title | Motion control of nonholonomic mobile underactuated manipulator |
|---|---|
| Authors | |
| Keywords | Nonholonomic constraints Passive link Hybrid joint Mobile underactuated manipulator |
| Issue Date | 2006 |
| Citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3512-3519 How to Cite? |
| 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. ©2006 IEEE. |
| Persistent Identifier | http://hdl.handle.net/10722/212892 |
| ISSN | 2023 SCImago Journal Rankings: 1.620 |
| DC Field | Value | Language |
|---|---|---|
| dc.contributor.author | Li, Zhijun | - |
| dc.contributor.author | Ming, Aiguo | - |
| dc.contributor.author | Xi, Ning | - |
| dc.contributor.author | Shimojo, Makoto | - |
| dc.date.accessioned | 2015-07-28T04:05:21Z | - |
| dc.date.available | 2015-07-28T04:05:21Z | - |
| dc.date.issued | 2006 | - |
| dc.identifier.citation | Proceedings - IEEE International Conference on Robotics and Automation, 2006, v. 2006, p. 3512-3519 | - |
| dc.identifier.issn | 1050-4729 | - |
| dc.identifier.uri | http://hdl.handle.net/10722/212892 | - |
| dc.description.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. ©2006 IEEE. | - |
| dc.language | eng | - |
| dc.relation.ispartof | Proceedings - IEEE International Conference on Robotics and Automation | - |
| dc.subject | Nonholonomic constraints | - |
| dc.subject | Passive link | - |
| dc.subject | Hybrid joint | - |
| dc.subject | Mobile underactuated manipulator | - |
| dc.title | Motion control of nonholonomic mobile underactuated manipulator | - |
| dc.type | Conference_Paper | - |
| dc.description.nature | link_to_subscribed_fulltext | - |
| dc.identifier.doi | 10.1109/ROBOT.2006.1642238 | - |
| dc.identifier.scopus | eid_2-s2.0-33845670485 | - |
| dc.identifier.volume | 2006 | - |
| dc.identifier.spage | 3512 | - |
| dc.identifier.epage | 3519 | - |
| dc.identifier.issnl | 1050-4729 | - |