TY - GEN
T1 - Tracking control of non-holonomic mobile manipulators
AU - Minami, Mamoru
AU - Kotsuru, Tomohiro
AU - Asakura, Toshiyuki
PY - 2000
Y1 - 2000
N2 - 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.
AB - 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.
UR - http://www.scopus.com/inward/record.url?scp=0034590651&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0034590651&partnerID=8YFLogxK
M3 - Conference contribution
AN - SCOPUS:0034590651
SN - 7801346955
T3 - Proceedings of the 4th Asia-Pacific Conference on Control and Measurement
SP - 361
EP - 366
BT - Proceedings of the 4th Asia-Pacific Conference on Control and Measurement
A2 - Chunlin, S.
A2 - Chunlin, S.
T2 - Proceedings of the 4th Asia-Pacific Conference on Control and Measurement
Y2 - 9 July 2000 through 12 July 2000
ER -