Experimental evaluation of dynamic redundancy resolution in a nonholonomic wheeled mobile manipulator

IEEE/ASME Transactions on Mechatronics

Volumn 14, Issue 3, 2009, Pages 349-357

  White, Glenn D ^a   Bhatt, Rajankumar M ^b   Tang, Chin Pei ^c   Krovi, Venkat N ^d  

^a GENERAL MOTORS CORPORATION   (United States)

^b University of Iowa   (United States)

^c The University of Texas at Dallas   (United States)

^d State University of New York   (United States)

Author keywords

Dynamic redundancy resolution; Hardwarein the loop (HIL); Nonholonomic wheeled mobile manipulator (NH WMM); Virtual prototyping (VP)

Indexed keywords

ACTIVE CONTROL; ACTUATION REDUNDANCY; DYNAMIC LEVELS; DYNAMIC REDUNDANCY RESOLUTION; EXPERIMENTAL EVALUATION; HARDWARE-IN-THE-LOOP TESTING; HARDWAREIN-THE-LOOP (HIL); MANIPULATOR ARMS; MOBILE BASIS; MOBILE MANIPULATOR; MODE CONTROLLER; NONHOLONOMIC; NONHOLONOMIC WHEELED MOBILE MANIPULATOR (NH-WMM); PRIMARY CONTROL; RECONFIGURABILITY; REPRESENTATIVE CASE; SOLUTION APPROACH; SYSTEM DYNAMICS; VIRTUAL PROTOTYPING; VIRTUAL PROTOTYPING (VP); WHEELED MOBILE MANIPULATOR;

CONTROL SYSTEM ANALYSIS; CONTROLLERS; DISTURBANCE REJECTION; QUALITY ASSURANCE; REDUNDANCY;

MANIPULATORS;

EID: 67650142414     PISSN: 10834435     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMECH.2008.2008802     Document Type: Article

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