On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty (Q1614416)
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scientific article; zbMATH DE number 1797130
| Language | Label | Description | Also known as |
|---|---|---|---|
| English | On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty |
scientific article; zbMATH DE number 1797130 |
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On trajectory and force tracking control of constrained mobile manipulators with parameter uncertainty (English)
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5 September 2002
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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.
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mobile manipulator
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force/position control
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nonholonomic systems
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constrained robot systems
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mobile robots
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adaptive tracking
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