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In this paper, adaptive motion/force control by dynamic coupling and output feedback is considered for nonholonomic mobile manipulators with an under-actuated joint, in the presence of parametric and functional uncertainties. It is obvious that the constraints of the system consist of kinematic constraints for the mobile platform and dynamic constraints for the under-actuated joint. Through using...
In our current research, we are developing a holonomic mobile system which is capable of running over the step. This system realizes omni-directional motion on flat floor using special wheels and passes over non-flat ground in forward or backward direction using the passive suspension mechanism. Odometry is popular position tracking scheme for a wheeled mobile robot, however, in the case of non-flat...
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