Position-force control of mobile manipulator - nonadaptive and adaptive case

被引：3
|
作者：
Kaczmarek, Mirela [1 ]
Domski, Wojciech [1 ]
Mazur, Alicja [1 ]
机构：
[1] Wroclaw Univ Sci & Technol, Dept Cybernet & Robot, Ul Janiszewskiego 11-17, PL-50372 Wroclaw, Poland
来源：
ARCHIVES OF CONTROL SCIENCES | 2017年 / 27卷 / 04期
关键词：
holonomic constraint; nonholonomic constraint; parametric uncertainty; adaptive control;
D O I：
10.1515/acsc-2017-0029
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot's arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot's model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.
引用
收藏
页码：487 / 503
页数：17
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