Tracking control of non-holonomic mobile manipulators

Mamoru Minami, Tomohiro Kotsuru, Toshiyuki Asakura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

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 languageEnglish
Title of host publicationProceedings of the 4th Asia-Pacific Conference on Control and Measurement
EditorsS. Chunlin, S. Chunlin
Pages361-366
Number of pages6
Publication statusPublished - 2000
Externally publishedYes
EventProceedings of the 4th Asia-Pacific Conference on Control and Measurement - Guilin, China
Duration: Jul 9 2000Jul 12 2000

Other

OtherProceedings of the 4th Asia-Pacific Conference on Control and Measurement
CountryChina
CityGuilin
Period7/9/007/12/00

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ASJC Scopus subject areas

  • Engineering(all)

Cite this

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 (pp. 361-366)