A New Hybrid Backstepping Approach for the Position/Force Control of Mobile Manipulators

2019 ◽  
pp. 183-198
Author(s):  
Manju Rani ◽  
Dinanath ◽  
Naveen Kumar
Keyword(s):  
Force Control ◽  
Mobile Manipulators ◽  
Backstepping Approach

Adaptive Robust Output-Feedback Motion/Force Control of Electrically Driven Nonholonomic Mobile Manipulators

2008 ◽  
Vol 16 (6) ◽  
pp. 1308-1315 ◽  
Author(s):  
Zhijun Li ◽  
Shuzhi Sam Ge ◽  
M. Adams ◽  
W.S. Wijesoma
Keyword(s):  
Force Control ◽  
Output Feedback ◽  
Mobile Manipulators

scholarly journals Position-force control of mobile manipulator – nonadaptive and adaptive case

2017 ◽  
Vol 27 (4) ◽  
pp. 487-503 ◽  
Author(s):  
Mirela Kaczmarek ◽  
Wojciech Domski ◽  
Alicja Mazur
Keyword(s):  
Force Control ◽  
Control Algorithm ◽  
Parametric Uncertainty ◽  
Mobile Manipulator ◽  
Control Law ◽  
Mobile Manipulators ◽  
Constrained Dynamics ◽  
Holonomic Constraint ◽  
System A ◽  
Theoretical Considerations

AbstractThis article presents a control algorithm for nonholonomic mobile manipulators with a simple, geometric holonomic constraint imposed on the robot’s arm. A mathematical model in generalized, auxiliary and linearized coordinates is presented, as well as the constrained dynamics of the robotic system. A position-force control law is proposed, both for the fully known robot’s model, as well as for the model with parametric uncertainty in the dynamics. Theoretical considerations are supported by the results of computer simulations.

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