Object
Title: Modelling and control of an omnidirectional mobile manipulator
Group publication title:
Abstract:
A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. ; The vehicle is equipped with three driven axles with two spherical orthogonal wheels. Taking into account the dynamical interaction between the base and the manipulator, one can define the dynamics of the mobile manipulator and design a nonlinear controller using the input-state linearization method. The control structure of the robot is built in order to demonstrate the main capabilities regarding navigation and obstacle avoidance. Several simulations were conducted to prove the effectiveness of this approach.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
Contributor:
Korbicz, Józef - red. ; Uciński, Dariusz - red.
Resource Identifier:
DOI:
Pages:
Source:
AMCS, Volume 22, Number 3 (2012)
Language:
Rights:
Biblioteka Uniwersytetu Zielonogórskiego
Object collections:
- Repository > Faculties > Faculty of Computer, Electrical and Control Engineering
- Repository > Types of work > Articles
- Repository > Scientific journals issued at the UZ > International Journal of Applied Mathematics and Computer Science (AMCS) > International Journal of Applied Mathematics and Computer Science (AMCS) (2012)
Last modified:
Sep 10, 2018
In our library since:
Sep 10, 2018
Number of object content hits:
11
All available object's versions:
https://zbc.uz.zgora.pl/repozytorium/publication/55124
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International Journal of Applied Mathematics and Computer Science (AMCS)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 1 (1991)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 2 (1992)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 3 (1993)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 4 (1994)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 5 (1995)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 6 (1996)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 7 (1997)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 8 (1998)
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International Journal of Applied Mathematics and Computer Science (AMCS), volume 9 (1999)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 15 (2005)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 16 (2006)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 20 (2010)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 21 (2011)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22, Number 1 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22, Number 2 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22, Number 3 (2012)
- International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22, Number 3 (2012) - spis treści
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 22, Number 1 (2012)
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International Journal of Applied Mathematics and Computer Science (AMCS), Volume 1 (1991)
| Edition name | Date |
|---|---|
| Modelling and control of an omnidirectional mobile manipulator | Sep 10, 2018 |
