Please use this identifier to cite or link to this item: https://doi.org/10.1109/WCICA.2006.1712348
Title: Robust motion/force control of holonomic constrainted nonholonomic mobile manipulators using hybrid joints
Authors: Luo, J.
Li, Z.
Ming, A.
Ge, S.S. 
Keywords: Holonomic constraint
Hybrid joints
Motion/force control
Nonholonomic mobile manipulators
Issue Date: 2006
Citation: Luo, J.,Li, Z.,Ming, A.,Ge, S.S. (2006). Robust motion/force control of holonomic constrainted nonholonomic mobile manipulators using hybrid joints. Proceedings of the World Congress on Intelligent Control and Automation (WCICA) 1 : 408-412. ScholarBank@NUS Repository. https://doi.org/10.1109/WCICA.2006.1712348
Abstract: In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. Robust controls are proposed based on a simplified dynamic model, the denned reference signals and the mixed tracking errors. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance. Constraint force control is developed, which does not utilize force feedback control but is based on the passivity of hybrid joint. Experiment results validate not only the states of the system asymptotically converge to the desired trajectory but also the constraint force asymptotically converges to the desired force. © 2006 IEEE.
Source Title: Proceedings of the World Congress on Intelligent Control and Automation (WCICA)
URI: http://scholarbank.nus.edu.sg/handle/10635/71681
ISBN: 1424403324
DOI: 10.1109/WCICA.2006.1712348
Appears in Collections:Staff Publications

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