End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control.
Mostafa OsmanMohamed W. MehrezShiyi YangSoo JeonWilliam MelekPublished in: CoRR (2021)
Keyphrases
- end effector
- nonlinear model predictive control
- image based visual servoing
- visual servoing
- motion planning
- degrees of freedom
- mobile robot
- vision system
- robotic manipulator
- robot arm
- control law
- dynamic model
- robotic arm
- inverse kinematics
- robot manipulators
- camera motion
- robot control
- image space
- path planning
- dynamic environments
- control scheme
- humanoid robot
- closed loop
- nonlinear systems
- computationally efficient