Kinematic control of nonholonomic mobile manipulators in the presence of steering wheels.
Alessandro De LucaGiuseppe OrioloPaolo Robuffo GiordanoPublished in: ICRA (2010)
Keyphrases
- wheeled mobile robots
- kinematic model
- motion planning
- control law
- degrees of freedom
- path planning
- adaptive control
- control theory
- autonomous control
- parallel manipulator
- tracking control
- control system
- feedback control
- control strategy
- mobile devices
- master slave
- sliding mode
- control method
- robotic systems
- visual servoing
- optimal control
- closed loop
- mobile robot
- collision avoidance
- end effector
- mobile phone
- context aware
- mathematical model
- straight line
- joint space
- trajectory planning
- inverse kinematics
- multi robot
- real time