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- W2111408367 abstract "Motion control is investigated for a nonholonomic mobile manipulator using hybrid joints, which could be switched to either active (actuated) or passive (underactuated) mode. The mobile platform is driven with two independent wheels and the arm has hybrid joints in the horizontal plane. The dynamic constraints are shown to be a first-order nonholonomic for the mobile base and a second-order nonholonomic for the link when one of hybrid joints is underactuated. Two Different motion control methods for mobile underactuated manipulator with one passive joint are proposed. Simulation and experimental studies show the effectiveness of the proposed methods" @default.
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- W2111408367 date "2006-07-10" @default.
- W2111408367 modified "2023-09-25" @default.
- W2111408367 title "Motion control of nonholonomic mobile underactuated manipulator" @default.
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- W2111408367 doi "https://doi.org/10.1109/robot.2006.1642238" @default.
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