Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators.
This paper proposes a multilayer scheme for the cooperative control of 2 n „d heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated...
Saved in:
| Main Author: | |
|---|---|
| Format: | article |
| Language: | eng |
| Published: |
2018
|
| Subjects: | |
| Online Access: | http://repositorio.espe.edu.ec/handle/21000/15428 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Add Tag | _version_ | 1857769870769258496 |
|---|---|
| author | Molina Fernández, María Fernanda |
| author_facet | Molina Fernández, María Fernanda |
| author_role | author |
| collection | Repositorio Universidad de las Fuerzas Armadas |
| dc.contributor.none.fl_str_mv | Ortiz, Jessica S. |
| dc.creator.none.fl_str_mv | Molina Fernández, María Fernanda |
| dc.date.none.fl_str_mv | 2018 2019-01-03T17:21:43Z 2019-01-03T17:21:43Z |
| dc.format.none.fl_str_mv | application/pdf application/pdf |
| dc.identifier.none.fl_str_mv | Molina Fernández, María Fernanda (2018). Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. ENI-0428 http://repositorio.espe.edu.ec/handle/21000/15428 |
| dc.language.none.fl_str_mv | eng |
| dc.publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. Carrera de Ingeniería en Electrónica e Instrumentación. |
| dc.rights.none.fl_str_mv | info:eu-repo/semantics/openAccess |
| dc.source.none.fl_str_mv | reponame:Repositorio Universidad de las Fuerzas Armadas instname:Universidad de las Fuerzas Armadas instacron:ESPE |
| dc.subject.none.fl_str_mv | CONTROL COOPERATIVO MODELADO CINEMÁTICO MÉTODO LYAPUNOV |
| dc.title.none.fl_str_mv | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| dc.type.none.fl_str_mv | info:eu-repo/semantics/publishedVersion info:eu-repo/semantics/article |
| description | This paper proposes a multilayer scheme for the cooperative control of 2 n „d heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated using the Lyapunov theory in order to obtain asymptotically stable control. Finally, the results are presented to evaluate the performance of the proposed control, which confirms the scope of the controller to solve different movement problems. |
| eu_rights_str_mv | openAccess |
| format | article |
| id | ESPE_d404a7de2c13fdd6d2fbb408fbac8b34 |
| identifier_str_mv | Molina Fernández, María Fernanda (2018). Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. ENI-0428 |
| instacron_str | ESPE |
| institution | ESPE |
| instname_str | Universidad de las Fuerzas Armadas |
| language | eng |
| network_acronym_str | ESPE |
| network_name_str | Repositorio Universidad de las Fuerzas Armadas |
| oai_identifier_str | oai:repositorio.espe.edu.ec:21000/15428 |
| publishDate | 2018 |
| publisher.none.fl_str_mv | Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga. Carrera de Ingeniería en Electrónica e Instrumentación. |
| reponame_str | Repositorio Universidad de las Fuerzas Armadas |
| repository.mail.fl_str_mv | . |
| repository.name.fl_str_mv | Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadas |
| repository_id_str | 2042 |
| spelling | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators.Molina Fernández, María FernandaCONTROL COOPERATIVOMODELADO CINEMÁTICOMÉTODO LYAPUNOVThis paper proposes a multilayer scheme for the cooperative control of 2 n „d heterogeneous mobile manipulators that allows to transport an object in common in a coordinated way; for which the kinematic modeling of each mobile manipulator robot is performed. Stability and robustness are demonstrated using the Lyapunov theory in order to obtain asymptotically stable control. Finally, the results are presented to evaluate the performance of the proposed control, which confirms the scope of the controller to solve different movement problems.ESPELUniversidad de las Fuerzas Armadas ESPE. Extensión Latacunga. Carrera de Ingeniería en Electrónica e Instrumentación.Ortiz, Jessica S.2019-01-03T17:21:43Z2019-01-03T17:21:43Z2018info:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfapplication/pdfMolina Fernández, María Fernanda (2018). Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. Carrera de Ingeniería Electrónica e Instrumentación. Departamento de Eléctrica y Electrónica. Universidad de las Fuerzas Armadas ESPE. Extensión Latacunga.ENI-0428http://repositorio.espe.edu.ec/handle/21000/15428enginfo:eu-repo/semantics/openAccessreponame:Repositorio Universidad de las Fuerzas Armadasinstname:Universidad de las Fuerzas Armadasinstacron:ESPE2024-07-27T10:53:41Zoai:repositorio.espe.edu.ec:21000/15428Institucionalhttps://repositorio.espe.edu.ec/Universidad públicahttps://www.espe.edu.ec/https://repositorio.espe.edu.ec/oai.Ecuador...opendoar:20422026-02-19T18:54:18.450827Repositorio Universidad de las Fuerzas Armadas - Universidad de las Fuerzas Armadastrue |
| spellingShingle | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. Molina Fernández, María Fernanda CONTROL COOPERATIVO MODELADO CINEMÁTICO MÉTODO LYAPUNOV |
| status_str | publishedVersion |
| title | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| title_full | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| title_fullStr | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| title_full_unstemmed | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| title_short | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| title_sort | Coordinated and Cooperative Control of Heterogeneous Mobile Manipulators. |
| topic | CONTROL COOPERATIVO MODELADO CINEMÁTICO MÉTODO LYAPUNOV |
| url | http://repositorio.espe.edu.ec/handle/21000/15428 |