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Robust and adaptive controller of the uncertain mobile manipulator with holonomic and non-holonomic constrains is designed. Considering some problems in model reduction by implicit function theorem when the mobile manipulator subjects to holonomic and non-holonomic constrains, an uniform expression of holonomic and non-holonomic constrains is introduced, and then based on the reduced model, a steady...
Collaborative Robotics is the use of multiple robotic nodes assisting each other to perform a task that is either too difficult or impossible for one robot to perform alone. Multi-agent systems not only speed-up complex tasks, but also increase robustness and eliminate single-point failures. A search and rescue algorithm is being designed by using a team of collaborative autonomous robots to search...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
A robust compensation control is proposed as an approach for the robust motion control of a mobile manipulator service robot comprising a mobile platform with a two-link arm mounted on top of the platform. Considering the coupling disturbance between the platform and the manipulator, nominal model of service robot is built, computed torque and proportion-differential (PD) feedback control method is...
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. The controls are based on structural knowledge of the dynamics of the robot and the actuator dynamics is also taken into account. The proposed control is robust not only to structured uncertainty such as mass...
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