A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators
This paper investigates the differentiable dynamic modeling of mobile manipulators to
facilitate efficient motion planning and physical design of actuators, where the actuator …
facilitate efficient motion planning and physical design of actuators, where the actuator …
A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform
This article establishes an innovative and general approach for the dynamic modeling and
trajectory tracking control of a serial robotic manipulator with n-rigid links connected by …
trajectory tracking control of a serial robotic manipulator with n-rigid links connected by …
Neural network-based cooperative trajectory tracking control for a mobile dual flexible manipulator
S Zhang, Y Wu, X He, J Wang - IEEE Transactions on Neural …, 2022 - ieeexplore.ieee.org
For a mobile dual flexible manipulator (MDFM) system, this article focuses on the problem of
cooperative trajectory tracking under unknown dynamics and time-varying trajectories. The …
cooperative trajectory tracking under unknown dynamics and time-varying trajectories. The …
Model-based robust servo control for permanent magnet synchronous motor with inequality constraint
SB Sun, SC Zhen, XL Liu, HY Zhong… - Measurement Science …, 2023 - iopscience.iop.org
Based on the dynamic model, a robust constrained control method for permanent magnet
synchronous motor (PMSM) is proposed in this paper to achieve better trajectory tracking …
synchronous motor (PMSM) is proposed in this paper to achieve better trajectory tracking …
Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller
Robot systems often face highly nonlinear manipulator dynamics and uncertainties such as
external disturbances, payload variations, and end effector modeling errors. Therefore, it is …
external disturbances, payload variations, and end effector modeling errors. Therefore, it is …
Kinematic Modeling and Trajectory Tracking of Two-wheeled Mobile Robot Manipulators at the Acceleration Level
N Cang, Q Li, K Shi, D Guo, Z Zhang, Y Shen… - IEEE …, 2024 - ieeexplore.ieee.org
Traditional coordinated motion planning schemes for mobile robot manipulators are
primarily designed at the velocity level, which limits their applicability to acceleration …
primarily designed at the velocity level, which limits their applicability to acceleration …
Implementation of a robust data-driven control approach for an ommi-directional mobile manipulator based on koopman operator
X Zhu, C Ding, C Ren, T Zhang… - Measurement and …, 2022 - journals.sagepub.com
The dynamic modeling and control of omni-directional mobile manipulators (OMM) are
challenging since they are highly nonlinear, strongly coupled, and multi-input multi-output …
challenging since they are highly nonlinear, strongly coupled, and multi-input multi-output …
Trajectory Tracking Control of a Mobile Manipulator Mounted on an Unmanned Surface Vehicle
T Pan, MJ Er, Y Chen, Z Li - 2021 4th International Conference …, 2021 - ieeexplore.ieee.org
In this paper, a novel approach for trajectory tracking of a mobile manipulator mounted on an
unmanned surface vehicle (USV) is proposed. The main contributions of the paper are as …
unmanned surface vehicle (USV) is proposed. The main contributions of the paper are as …
Analysis of collision stability of wheeled mobile robots in flexible operating environments
Y Li, C Li, Y Li, Y Hao, Z Sun, F Zhang - Proceedings of the 2024 3rd …, 2024 - dl.acm.org
This research focuses on the transient dynamic stability evaluation criteria for wheeled
mobile manipulators and presents a dynamic model of wheeled mobile platforms based on …
mobile manipulators and presents a dynamic model of wheeled mobile platforms based on …