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Robust motion/force control of nonholonomic mobile manipulators using hybrid joints

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In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and non-holonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance and constraint force control is developed using the passivity of hybrid joints rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.
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Keywords: HOLONOMIC CONSTRAINTS; HYBRID JOINTS; MOTION/FORCE CONTROL; NONHOLONOMIC MOBILE MANIPULATORS

Document Type: Research Article

Affiliations: 1: Department of Electrical and Computer Engineering, National University of Singapore, Singapore 117576 2: School of Mechatronics Engineering and Automation, Shanghai University, Shanghai, PRC 3: Department of Mechanical and Control Engineering, University of Electro-Communications, Tokyo, Japan

Publication date: 2007-11-01

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