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- W2135278786 abstract "This paper proposed an adaptive controller based on the back stepping concept for a two-wheel welding mobile manipulator to track a smooth curved welding path in vertical. To design a tracking controller, the tracking errors are defined between the welding point of torch and the reference point moving at a specified constant welding speed on a vertical welding path. The error for auxiliary velocity is also concerned in controller design. Both kinematic and dynamic modelings of the mobile manipulator are introduced. It is assumed for tracking controller design that the platform moves on the path paralleled for y-z plane. So, the velocity component on x-direction of the welding point equals to zero in spite of the rotation of the manipulator links. The simulations are performed to show the effectiveness of the proposed controller." @default.
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- W2135278786 date "2004-05-01" @default.
- W2135278786 modified "2023-09-24" @default.
- W2135278786 title "Control of Mobile Manipulator for Tracking Vertical Smooth Welding Trajectory" @default.
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