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...
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| Autor Principal: | |
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| Formato: | article |
| Idioma: | eng |
| Publicado: |
2022
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| Acceso en liña: | https://ieeexplore.ieee.org/document/9935753 https://hdl.handle.net/20.500.14809/3947 |
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