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- W1624857804 abstract "Discusses the dynamic modeling and robust control of a spatial mobile manipulator which consists of a robotic manipulator mounted upon a wheeled mobile platform. By considering slip of the wheeled platform's tires, the assumption of nonholonomic motion is violated. The dynamic equations of motion are derived using the Newton-Euler method and incorporate a nonlinear tire friction model. Then, a robust control method is developed to eliminate the harmful effect of the wheel slip on the tracking performance. The effectiveness of the proposed control algorithm is demonstrated through computer simulation." @default.
- W1624857804 created "2016-06-24" @default.
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- W1624857804 date "1999-01-01" @default.
- W1624857804 modified "2023-09-27" @default.
- W1624857804 title "Robust control of a mobile manipulator-dynamic modeling approach" @default.
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- W1624857804 doi "https://doi.org/10.1109/acc.1999.786485" @default.
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