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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...
In this paper an image-based dynamic visual feedback control for mobile manipulators is presented to solve the target tracking problem in the 3D-workspace. The design of the whole controller is based on two cascaded subsystems: a minimum norm visual kinematic controller which complies with the 3D target tracking objective, and an adaptive controller that compensates the dynamics of the mobile manipulator...
This paper presents an adaptive robust tracking control method for a mobile manipulator during trajectory tracking. The parameters of the mobile manipulator dynamics are updated online. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and an adaptive controller that compensates the dynamics of the mobile manipulator system...
This paper presents the tracking control problem of a mobile manipulator system to maintain maximum manipulability and including the obstacle avoidance. The design of the controller is based on two cascaded subsystems: a minimum norm kinematic controller with command saturation, and a controller that compensates for the dynamics of the mobile manipulator system. Robot commands are defined in terms...
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