کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699116 | 1460725 | 2012 | 16 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Adaptive unified motion control of mobile manipulators
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
![عکس صفحه اول مقاله: Adaptive unified motion control of mobile manipulators Adaptive unified motion control of mobile manipulators](/preview/png/699116.png)
چکیده انگلیسی
This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 20, Issue 12, December 2012, Pages 1337–1352
Journal: Control Engineering Practice - Volume 20, Issue 12, December 2012, Pages 1337–1352
نویسندگان
Víctor Andaluz, Flavio Roberti, Juan Marcos Toibero, Ricardo Carelli,