Optimal position control of a mobile manipulator for minimum energy
This work presents the position control with energy optimization for a mobile manipulator and the proposal is based on the Pontryagin's Minimum Principle. The objective function is subject to the kinematic model of the robot with the non-holonomic motion constraint of the mobile platform and th...
Saved in:
| Main Author: | |
|---|---|
| Format: | article |
| Language: | eng |
| Published: |
2022
|
| Online Access: | https://ieeexplore.ieee.org/document/9935753 https://hdl.handle.net/20.500.14809/3947 |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
Add Tag