A control theory framework for performance evaluation of mobile manipulators

@article{Zadarnowska2007ACT,
  title={A control theory framework for performance evaluation of mobile manipulators},
  author={Katarzyna Zadarnowska and Krzysztof Tchon},
  journal={Robotica},
  year={2007},
  volume={25},
  pages={703-715}
}
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
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