Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control

@article{Wei2017PositionforceCO,
  title={Position/force control of a holonomic-constrained mobile manipulator based on active disturbance rejection control},
  author={Dongmei Wei and Chao Ren and Mingyuan Zhang and Xiaohan Li and Shugen Ma and Chaoxu Mu},
  journal={IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society},
  year={2017},
  pages={6751-6756}
}
In this paper, active disturbance rejection control is designed for position/force control of a holonomic constrained mobile manipulator in presence of uncertainties and disturbances. A dynamic model of the mobile manipulator is derived, based on the Lagrange formulation. The basic idea of the proposed control design is to estimate the unknown internal dynamics of the mobile manipulator and external disturbances by the linear extended state observer and to actively compensate them by the… CONTINUE READING
0 Extracted Citations
11 Extracted References
Similar Papers

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 11 references

Robotics: Modelling, Planning and Control.

  • Bruno Siciliano
  • Advanced Textbooks in Control and Signal…
  • 2009
2 Excerpts

Robot Control System for Safe and Rapid Programming of Grinding Applications

  • T. K. Lien
  • Industrial Robotin On Trajectory and Force…
  • 2002

Calibration of a SCARA Robot by Contour Tracking of an Object of Known Geometry.

  • G. Legnani
  • Proceedings of the 32nd International Symposium…
  • 2001
1 Excerpt

Modeling and Control of a Mobile Manipulator Analysis and Control for an Omnidirectional Mobile Manipulator

  • S. A. Velinsky
  • Journal of Intelligent and Robotic Systems
  • 2000

Similar Papers

Loading similar papers…