TY - GEN
T1 - Modeling and control of a mobile manipulator with cancellation of factory-installed regulator
AU - Salazar-Silva, Gastón H.
AU - Moreno-Armendáriz, Marco A.
AU - Gallegos, Jaime Álvarez
PY - 2011
Y1 - 2011
N2 - The introduction of mobile manipulators on unstructured environments brings many interesting research problems, such as their modeling and control. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with nonholonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional-derivative (PD) control. Finally, a numerical experiment is presented using this method.
AB - The introduction of mobile manipulators on unstructured environments brings many interesting research problems, such as their modeling and control. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with nonholonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional-derivative (PD) control. Finally, a numerical experiment is presented using this method.
KW - Mobile manipulators
KW - Robot control
KW - Robots kinematics
UR - http://www.scopus.com/inward/record.url?scp=84856660262&partnerID=8YFLogxK
U2 - 10.2316/P.2011.752-072
DO - 10.2316/P.2011.752-072
M3 - Contribución a la conferencia
AN - SCOPUS:84856660262
SN - 9780889869035
T3 - Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011
SP - 353
EP - 360
BT - Proceedings of the 2nd IASTED International Conference on Robotics, Robo 2011
T2 - 2nd IASTED International Conference on Robotics, Robo 2011
Y2 - 7 November 2011 through 9 November 2011
ER -