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A redundant nonholonomic mobile modular manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degree of freedom (DOF) onboard modular manipulator is investigated in this paper. Redundancy of the atop manipulator is used to avoid tipping over of the entire robot through automatically adjusting self-motions in a realtime manner. On the basis of modular robot concept, a kind of integrated...
A robust adaptive neural-fuzzy (NF) controller is presented in this paper for trajectory following of nonholonomic mobile modular manipulators in task space. On the basis of modular robot concept, an integrated dynamic modeling method is proposed in consideration of the interactive motions and the nonholonomic constraints. NF systems are used as estimators to approximate dynamic model of the robot...
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