Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control
Abstract
Summary Trajectory tracking of a mobile manipulator in the Cartesian space based on decentralized control is considered in this paper. The dynamic model is first rearranged to take the form of two interconnected subsystems with constraint flow, namely, a nonholonomic mobile platform subsystem and a holonomic manipulator subsystem. Secondly, using the inverse kinematics, the workspace desired trajectory of the mobile manipulator is transformed to...
Paper Details
Title
Trajectory Tracking and Stability Analysis for Mobile Manipulators Based on Decentralized Control
Published Date
Mar 6, 2019
Journal
Volume
37
Issue
10
Pages
1732 - 1749
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