On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty (Q1614416)
From MaRDI portal
scientific article
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty |
scientific article |
Statements
On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty (English)
0 references
5 September 2002
0 references
The trajectory an force tracking control problem of mobile robots subject to holonomic and nonholonomic constraints is considered in the case of unknown inertia parameters. Based on a certain parameter estimator, the asymptotic convergence to the desired trajectory, resp. to the desired force, is shown. The method is illustrated by a simulation study.
0 references
mobile manipulator
0 references
force/position control
0 references
nonholonomic systems
0 references
constrained robot systems
0 references
mobile robots
0 references
adaptive tracking
0 references
