TY - GEN
T1 - A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics
AU - Umemoto, Kyohei
AU - Murakami, Toshiyuki
PY - 2012/12/1
Y1 - 2012/12/1
N2 - This paper proposes a method for tracking control of underactuated system such as two wheel mobile manipulator based on zero dynamics. This proposal makes it possible to control mobile platform position independently while stabilizing COG and servoing end-effector position, although mobile platform position depends on other control task in conventional methods.
AB - This paper proposes a method for tracking control of underactuated system such as two wheel mobile manipulator based on zero dynamics. This proposal makes it possible to control mobile platform position independently while stabilizing COG and servoing end-effector position, although mobile platform position depends on other control task in conventional methods.
KW - Mobile Manipulator
KW - Torque Constraint Based Control
KW - Trajectory Planning
KW - Underactuated Mechanism
KW - Zero Dynamics
UR - http://www.scopus.com/inward/record.url?scp=84872914089&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84872914089&partnerID=8YFLogxK
U2 - 10.1109/IECON.2012.6389160
DO - 10.1109/IECON.2012.6389160
M3 - Conference contribution
AN - SCOPUS:84872914089
SN - 9781467324212
T3 - IECON Proceedings (Industrial Electronics Conference)
SP - 2638
EP - 2643
BT - Proceedings, IECON 2012 - 38th Annual Conference on IEEE Industrial Electronics Society
T2 - 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012
Y2 - 25 October 2012 through 28 October 2012
ER -