DocumentCode
1818484
Title
Position-force control of nonholonomic mobile manipulator with simple holonomic constraint
Author
Mazur, Alicja ; Frontkiewicz, Mirela ; Domski, Wojciech
Author_Institution
Dept. of Cybern. & Robot., Wroclaw Univ. of Technol., Wrocław, Poland
fYear
2015
fDate
6-8 July 2015
Firstpage
257
Lastpage
262
Abstract
In the paper a control algorithm for a nonholonomic mobile manipulator with simple holonomic constraint on robot joint has been presented. Reduced dynamics of a whole system defined on constraint surface have been developed. A new control algorithm, divided into position control law for unconstrained subsystem and force control law, expressed in terms of the motion on the constraint manifold has been proposed. Theoretical results are illustrated with simulations.
Keywords
force control; manipulator dynamics; mobile robots; motion control; position control; constraint manifold; constraint surface; control algorithm; motion control; nonholonomic mobile manipulator; position-force control law; reduced dynamics; robot joint; simple-holonomic constraint; unconstrained subsystem; Dynamics; Force control; Joints; Manipulator dynamics; Mathematical model; Mobile communication;
fLanguage
English
Publisher
ieee
Conference_Titel
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location
Poznan
Type
conf
DOI
10.1109/RoMoCo.2015.7219745
Filename
7219745
Link To Document