Original paper
Modeling, tracking, vibration and balance control of an underactuated mobile manipulator (UMM)
Abstract
This paper presents an underactuated mobile manipulator (UMM) and focuses on solving modeling, tracking, and vibration- and balance-control problems. Although the study has been directed at warehousing applications, the developed techniques are general and can be applied to other applications. The derivation of equations of motion of the UMM, disturbance analysis, and model validation are investigated to reveal the actual system dynamics....
Paper Details
Title
Modeling, tracking, vibration and balance control of an underactuated mobile manipulator (UMM)
Published Date
Dec 1, 2019
Journal
Volume
93
Pages
104159 - 104159
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Notes
History