• 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.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1960075