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
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;
Conference_Titel :
Robot Motion and Control (RoMoCo), 2015 10th International Workshop on
Conference_Location :
Poznan
DOI :
10.1109/RoMoCo.2015.7219745
