Abstract
This paper proposes a new algorithm for simultaneous path following control of a nonholonomic mobile modular manipulator, which is composed of a 3-wheeled noholonomic mobile platform and a 4-degree of freedom (DOF) modular manipulator. By taking the mobile platform as a special module attached to the base of a modular manipulator, an integrated structure is formed and its dynamic modeling method is performed in consideration of the nonholonomic constraints of the mobile platform and the interactive motions between the mobile platform and the modular manipulator. A new control strategy, which mainly consists of a neural-network (NN) estimator and a robust fuzzy-logic controller (RFLC) is devised. This strategy does not rely on precise aprior knowledge of dynamic parameters and can suppress dynamic modeling errors and bounded external disturbances effectively. Simulation results for a real mobile modular manipulator demonstrate that the proposed controller is effective.Copyright © 2005 by ASME
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
