POLISH ACADEMY of SCIENCES
TECHNICAL SCIENCES
| BULLETIN
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POLISH ACADEMY of SCIENCES TECHNICAL SCIENCES |
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| Volume 53, Issue 1, March 2005 | ||||
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| Aims&Scope, Subscription | Editors | Authors' guide | Vol 53-1 | mirror: http://fluid.ippt.gov.pl/~bulletin/ |
| pp 31 - 37 |
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New approach to designing input-output decoupling controllers for mobile manipulators |
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| A. MAZUR |
| Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space. |
| Keywords: |
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nonholonomic constraint, mobile manipulator, input-output decoupling controller |
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| Aims&Scope, Subscription | Editors | Authors' guide | Vol 53-1 |
| Copyright
Bulletin of the Polish Academy of Sciences: Technical Sciences
21 April 2005, site prepared by KZ |
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