Modelling and control of a mobile manipulator for trajectory tracking

This article presents the mathematical modelling of a mobile manipulator robot to describe its kinematic and dynamic behaviour; the kinematic model is used to design a control law that allows the autonomous tracking of trajectories in structured spaces; while the dynamic model is used to compensate...

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Autore principale: Varela-Aldás, José (author)
Altri autori: Andaluz, Víctor (author), Chicaiza, Fernando (author)
Natura: article
Lingua:eng
Pubblicazione: 2018
Accesso online:https://ieeexplore.ieee.org/abstract/document/8564510
https://hdl.handle.net/20.500.14809/3443
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