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Provedor de dados:  InTech
País:  N/A
Título:  Dynamics and Control for Nonholonomic Mobile Modular Manipulators
Autores:  Yangmin Li
Yugang Liu
Data:  2006-12-01
Ano:  2006
Palavras-chave:  Mobile Robotics
Moving Intelligence
Resumo:  In this chapter, 3-wheeled nonholonomic mobile modular manipulators are investigated. First, an integrated modelling method is proposed in consideration of the nonholonomic constraints and the interactive motions. Second, a model based controller and a robust adaptive controller are presented in task space directly. Third, simulations are carried out on a mobile modular manipulator composed of a 3-wheeled mobile platform and a 4-DOF onboard modular manipulator, and the simulation results demonstrate the effectiveness of the proposed algorithms. The proposed algorithms can be easily extended to some other mobile manipulators as well.
Tipo:  2
Idioma:  Inglês
Editor:  INTECH Open Access Publisher
Relação:  ISBN:3-86611-284-X

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