DocumentCode
2051385
Title
A universal λ-tracking controller for mobile manipulators
Author
Mazur, Alicja
Author_Institution
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
fYear
2001
fDate
2001
Firstpage
153
Lastpage
159
Abstract
This paper presents a new control algorithm for a special class of robotic manipulators, namely a mobile manipulator. The mobile manipulator is a combined system which consists of a rigid manipulator mounted on a wheeled mobile platform. This control algorithm is a modification of the classical PD controller with static gain, which does not employ any specific knowledge of the robot dynamics
Keywords
closed loop systems; manipulator dynamics; mobile robots; motion control; tracking; two-term control; PD controller; closed-loop system; holonomic systems; mobile manipulator; robot dynamics; universal tracking controller; wheeled mobile platform; Adaptive control; Control systems; Cybernetics; Equations; Error correction; Manipulator dynamics; Mobile robots; PD control; Robot control; Wheels;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control, 2001 Proceedings of the Second International Workshop on
Conference_Location
Bukowy Dworek
Print_ISBN
83-7143-515-0
Type
conf
DOI
10.1109/ROMOCO.2001.973448
Filename
973448
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