DocumentCode :
1960075
Title :
The input-output decoupling controller for nonholonomic mobile manipulators
Author :
Mazur, A. ; Lukasik, B.
Author_Institution :
Inst. of Eng. Cybern., Wroclaw Univ. of Technol., Poland
fYear :
2004
fDate :
17-20 June 2004
Firstpage :
155
Lastpage :
160
Abstract :
In the paper, a problem of designing a decoupling controller for nonholonomic mobile manipulators is discussed. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of 2-pendulum mounted atop a unicycle.
Keywords :
control system synthesis; manipulators; mobile robots; pendulums; road vehicles; input-output decoupling controller; nonholonomic mobile manipulator; Cybernetics; Design engineering; Manipulator dynamics; Mathematical model; Mobile robots; Paper technology; Robot kinematics; Robot motion; Trajectory; Wheels;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Robot Motion and Control, 2004. RoMoCo'04. Proceedings of the Fourth International Workshop on
Print_ISBN :
83-7143-272-0
Type :
conf
DOI :
10.1109/ROMOCO.2004.240576
Filename :
1359501
Link To Document :
https://search.ricest.ac.ir/dl/search/defaultta.aspx?DTC=49&DC=1960075
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