A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics

Kyohei Umemoto, Toshiyuki Murakami

研究成果: Conference contribution

3 被引用数 (Scopus)

抄録

This paper proposes a method for tracking control of underactuated system such as two wheel mobile manipulator based on zero dynamics. This proposal makes it possible to control mobile platform position independently while stabilizing COG and servoing end-effector position, although mobile platform position depends on other control task in conventional methods.

本文言語English
ホスト出版物のタイトルProceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
ページ2638-2643
ページ数6
DOI
出版ステータスPublished - 2012 12 1
イベント38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012 - Montreal, QC, Canada
継続期間: 2012 10 252012 10 28

出版物シリーズ

名前IECON Proceedings (Industrial Electronics Conference)

Other

Other38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
CountryCanada
CityMontreal, QC
Period12/10/2512/10/28

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

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