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Browse Conference Publications > Robotics and Automation, 2000 ... Help

On tracking control of mobile manipulators

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3 Author(s)
Wenjie Dong ; Dept. of Mech. & Autom. Eng., Chinese Univ. of Hong Kong, Shatin, China ; Yangsheng Xu ; Qi Wang

This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat's lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired trajectory globally in the presence of the system coupling. Extensive simulations presented in the paper show the effectiveness of the proposed approach

Published in:
Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:4 )

Date of Conference: 2000

Page(s):
3455 - 3460 vol.4
Meeting Date :
24 Apr 2000-28 Apr 2000
ISSN :
1050-4729
Print ISBN:
0-7803-5886-4
INSPEC Accession Number:
6690883
Conference Location :
San Francisco, CA
Digital Object Identifier :
10.1109/ROBOT.2000.845262
Product Type:
Conference Publications

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