Tracking control of non-holonomic mobile manipulators

Mamoru Minami; Tomohiro Kotsuru; Toshiyuki Asakura

Tracking control of non-holonomic mobile manipulators

Mamoru Minami, Tomohiro Kotsuru, Toshiyuki Asakura

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Abstract

The tracking control of non-holonomic mobile manipulators is studied. The controller composes of a guidance controller for mobile robot that means the base of the mobile manipulator, a tracking controller for mounted manipulator and an inverse dynamics calculation, using an assumption that perfect inverse calculation is available. Several simulations confirm the performances of the controller that the tracking errors converge to zero.

Original language	English
Title of host publication	Proceedings of the 4th Asia-Pacific Conference on Control and Measurement
Editors	S. Chunlin, S. Chunlin
Pages	361-366
Number of pages	6
Publication status	Published - 2000
Externally published	Yes
Event	Proceedings of the 4th Asia-Pacific Conference on Control and Measurement - Guilin, China Duration: Jul 9 2000 → Jul 12 2000

Publication series

Name	Proceedings of the 4th Asia-Pacific Conference on Control and Measurement

Other

Other	Proceedings of the 4th Asia-Pacific Conference on Control and Measurement
Country	China
City	Guilin
Period	7/9/00 → 7/12/00

ASJC Scopus subject areas

Engineering(all)

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Cite this

Tracking control of non-holonomic mobile manipulators. / Minami, Mamoru; Kotsuru, Tomohiro; Asakura, Toshiyuki.

Proceedings of the 4th Asia-Pacific Conference on Control and Measurement. ed. / S. Chunlin; S. Chunlin. 2000. p. 361-366 (Proceedings of the 4th Asia-Pacific Conference on Control and Measurement).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Minami, M, Kotsuru, T & Asakura, T 2000, Tracking control of non-holonomic mobile manipulators. in S Chunlin & S Chunlin (eds), Proceedings of the 4th Asia-Pacific Conference on Control and Measurement. Proceedings of the 4th Asia-Pacific Conference on Control and Measurement, pp. 361-366, Proceedings of the 4th Asia-Pacific Conference on Control and Measurement, Guilin, China, 7/9/00.

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