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|Title:||Robust motion/force control of nonholonomic mobile manipulators using hybrid joints|
Nonholonomic mobile manipulators
|Citation:||Li, Z., Yang, C., Luo, J., Wang, Z., Ming, A. (2007-11-01). Robust motion/force control of nonholonomic mobile manipulators using hybrid joints. Advanced Robotics 21 (11) : 1231-1252. ScholarBank@NUS Repository. https://doi.org/10.1163/156855307781503754|
|Abstract:||In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and non-holonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and constraint force control is developed using the passivity of hybrid joints rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force. © 2007 VSP.|
|Source Title:||Advanced Robotics|
|Appears in Collections:||Staff Publications|
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