Control of a mobile modular manipulator moving on a slope

Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04

Volumn , Issue , 2004, Pages 135-140

  Li, Yangmin ^a   Liu, Yugang ^a  

^a UNIVERSITY OF MACAU   (Macao)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL SYSTEMS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; LAGRANGE MULTIPLIERS; LYAPUNOV METHODS; MATHEMATICAL MODELS; MATRIX ALGEBRA; MOBILE ROBOTS; VECTORS;

EULER ANGLES; FORCE-ANGLE STABILITY MEASURE; MOBILE MODULAR MANIPULATOR; MODEL-BASED CONTROLLER;

MANIPULATORS;

EID: 13944255790     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (8)

1. Y. YAMAMOTO and X. YUN, "Effect of the Dynamic Interaction on Coordinated Control of Mobile Manipulators", IEEE Transactions on Robotics and Automation, Vol.12, No.5, Oct., 1996, pp.816-824.
2. Y. LI, "Hybrid Control Approach to Peg-in-hole Problem", IEEE Robotics and Automation Magazine, VoL4, No.2, 1997, pp.52-60.
3. E. G. PAPADOPOULOS and D. A. REY, "A New Measure of Tipover Stability Margin for Mobile Manipulators", Proceedings of IEEE Int. Conf. on Robotics and Automation, Minneapolis, MN, USA, 1996, pp.3111-3116.
4. P.M. WILL and D.D. GROSSMAN, "An Experimental System for Computer Controlled Mechanical Assembly," IEEE Trans. Comptrs, Vol.24, No.9, 1975, pp.879-888.
5. Y. LI, Y. LIU, X. LIU, and Z. PENG, "Parameters Identification and Vibration Control for Modular Manipulators", Proceedings of IEEE International Conference on Robotics and Automation, Taipei, Taiwan, Sept., 2003, pp.3254-3259.
6. I. Chen and G. Yang, "Inverse Kinematics for Modular Reconfigurable Robots", Proceedings of IEEE International Conference on Robotics and Automation, Leuven, Belgium, May, 1998, pp. 1647-1652
7. Y. Li and Y. Liu, "Hybrid Kinematics and Dynamics Analysis for a Mobile Modular Manipulator", Proceedings of IEEE Canadian Conference on Electrical and Computer Engineering, Montréal, Canada, May, 2003, pp.1767-1770.
8. C.C.D.WIT, B.SICILIANO and GBASTIN, Theory of Robot Control, Springer-Verlag London Limited 1996.