Please use this identifier to cite or link to this item: https://doi.org/10.1163/156855307781503754
Title: Robust motion/force control of nonholonomic mobile manipulators using hybrid joints
Authors: Li, Z.
Yang, C.
Luo, J.
Wang, Z. 
Ming, A.
Keywords: Holonomic constraints
Hybrid joints
Motion/force control
Nonholonomic mobile manipulators
Issue Date: 1-Nov-2007
Source: 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
URI: http://scholarbank.nus.edu.sg/handle/10635/57304
ISSN: 01691864
DOI: 10.1163/156855307781503754
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