On Robust Hybrid Force/Motion Control Strategies Based on Actuator Dynamics for Nonholonomic Mobile Manipulators
Robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The controls are based on structural knowledge of the dynamics of the robot, and the actuator dynamics is also taken into...
| Main Authors: | , |
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| Format: | Article |
| Language: | English |
| Published: |
Hindawi Limited
2012-01-01
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| Series: | Journal of Applied Mathematics |
| Online Access: | http://dx.doi.org/10.1155/2012/920260 |