Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with two robotic arms

@article{Cheng2003DynamicMA,
  title={Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with two robotic arms},
  author={M. Cheng and Ching-Chih Tsai},
  journal={42nd IEEE International Conference on Decision and Control (IEEE Cat. No.03CH37475)},
  year={2003},
  volume={3},
  pages={2932-2937 Vol.3}
}
This paper develops methodologies for modeling and tracking control of two robotic arms mounted on a wheeled mobile robot subject to nonholonomic constraints. Utilizing the Lagrange's equation and the MATHEMATICA package, the exact system dynamic model and structural properties of the vehicle are acquired. With backstepping technique, a nonlinear tracking controller proved by the Lyapunov direct method is proposed to tackle with the nonholonomic effect and dynamic interactions between mobile… CONTINUE READING

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