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In the paper a new control algorithm for mobile manipulators with skid-steering platform, moving on unknown terrain, has been introduced. Due to under-actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in non-adaptive and adaptive version, guarantees asymptotically fast convergence...
This paper describes the control scheme for wheelchair pushing operation considering high tracking performance and ride quality using mobile manipulator. The mobile manipulator has both mobility of the mobile platform and manipulability of the multijoint arms, so it can perform many works. Therefore, it is very effective for work in human environments. This research aims at pushing wheelchairs using...
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