期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2008
卷号：5
期号：1
DOI：10.5772/5656
语种：English
出版社：SAGE Publications
摘要：In this paper, robust force/motion control strategies are presented for mobile manipulators under both holonomic and nonholonomic constraints in the presence of uncertainties and disturbances. The proposed control strategies guarantee that the system motion converges to the desired manifold with prescribed performance, and constraint force control is developed using the passivity of hybrid joint rather than force feedback control. Experiment results validate that not only the states of the system asymptotically converge to the desired trajectory, but also the constraint force asymptotically converges to the desired force.
关键词：wheeled mobile manipulators; motion/force control; hybrid joints
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