Motion control of nonholonomic mobile underactuated manipulator

被引：11
|
作者：
Li, Zhijun [1 ]
Ming, Aiguo [1 ]
Xi, Ning
Shimojo, Makoto [1 ]
机构：
[1] Univ Electrocommun, Dept Mech & Control Engn, Chofu, Tokyo 182, Japan
来源：
2006 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), VOLS 1-10 | 2006年
关键词：
nonholonomic constraints; hybrid joint; passive link; mobile underactuated manipulator;
D O I：
10.1109/ROBOT.2006.1642238
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods.
引用
收藏
页码：3512 / +
页数：2
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