A control theory framework for performance evaluation of mobile manipulators

  title={A control theory framework for performance evaluation of mobile manipulators},
  author={Katarzyna Zadarnowska and Krzysztof Tchon},
We propose a new, control theoretic methodology for defining performance measures of mobile manipulators. As a guiding principle, we assume that the kinematics or the dynamics of a mobile manipulator are represented by the end point map of a control system with outputs, and that a locally controllable system yields nontrivial performance measures. In the paper, we focus on two categories of dynamic performance measures: the compliance measure and the admittance measure. In both these categories… CONTINUE READING
7 Citations
32 References
Similar Papers


Publications referenced by this paper.
Showing 1-10 of 32 references

Automatic supervisory control for the configuration and behavior of multibody mechanisms,

  • A. Liegeois
  • IEEE Trans. Syst. Man Cybern
  • 1977
Highly Influential
6 Excerpts

Performance Measures of Mobile Manipulators Ph. D Dissertation (Wroclaw, Poland: Insitute of Engineering Cybernetics, Wrocław

  • K. Zadarnowska
  • University of Technology,
  • 2005
1 Excerpt

Dynamic Dexterity and Isotropy of Mobile Robots: An Endogenous Configuration Space Approach,

  • K. Zadarnowska
  • On Advances in Robot Kinematics (J. Lenarcic and…
  • 2004

Foussias, “Optimal location of a robot path when considering velocity performance,

  • S.N.A. Aspragathos
  • Robotica 20,
  • 2002
1 Excerpt

Similar Papers

Loading similar papers…