Title :
Influence of mathematical model selection on control signals for mobile manipulator with skid-steering mobile platform
Author :
Cholewinski, Mateusz ; Domski, Wojciech ; Mazur, Alicja
Author_Institution :
Electron. Fac., Wroclaw Univ. of Technol., Wrocław, Poland
Abstract :
In the paper the skid-steering mobile platform has been considered. Such object should be treated as an underactuated system. Artificial force method has been used as a solution for controlling an underactuated system on the dynamic level. The paper presents the influence of different methods of modeling, based on artificial force method, on the system´s behavior, especially on control signals.
Keywords :
manipulator dynamics; mobile robots; artificial force method; control signals; dynamic level; mathematical model selection; mobile manipulator; skid-steering mobile platform; system behavior; underactuated system; Dynamics; Force; Kinematics; Manipulator dynamics; Mathematical model; Mobile communication;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location :
Poznan
DOI :
10.1109/RoMoCo.2015.7219715
