scholarly journals WMR Kinematic Control Using Underactuated Mechanisms for Goal Direction and Evasion

Kinematics ◽  
2017 ◽  
Author(s):  
Jorge U. Reyes-Muñoz ◽  
Edgar A. Martínez-García ◽  
Ricardo Rodríguez-Jorge ◽  
Rafael Torres-Córdoba
Keyword(s):  
Kinematic Control ◽  
Goal Direction

scholarly journals Kinematic control of extreme jump angles in the red-legged running frog,Kassina maculata

2017 ◽  
Vol 220 (10) ◽  
pp. 1894-1904 ◽  
Author(s):  
Christopher Thomas Richards ◽  
Laura Beatriz Porro ◽  
Amber Jade Collings
Keyword(s):  
Kinematic Control

scholarly journals Intuitive Kinematic Control of a Robot Arm via Human Motion

2014 ◽  
Vol 79 ◽  
pp. 411-416 ◽  
Author(s):  
Hsien-I Lin ◽  
Yu-Cheng Liu ◽  
Yu-Hsiang Lin
Keyword(s):  
Human Motion ◽  
Robot Arm ◽  
Kinematic Control

Nonlinear Kinematic Control of QBot2-Trajectory Tracking

2019 ◽  
Author(s):  
Marc Vazquez ◽  
Mateusz Ardito-Proulx ◽  
Sabiha Wadoo
Keyword(s):  
Trajectory Tracking ◽  
Kinematic Control

Linear Algebra Applied to Kinematic Control of Mobile Manipulators

2017 ◽  
pp. 297-306
Author(s):  
Víctor H. Andaluz ◽  
Edison R. Sásig ◽  
William D. Chicaiza ◽  
Paola M. Velasco
Keyword(s):  
Linear Algebra ◽  
Mobile Manipulators ◽  
Kinematic Control

scholarly journals On path following control of nonholonomic mobile manipulators

2009 ◽  
Vol 19 (4) ◽  
pp. 561-574 ◽  
Author(s):  
Alicja Mazur ◽  
Dawid Szakiel
Keyword(s):  
Control Algorithm ◽  
Dynamic Control ◽  
Path Following ◽  
Mobile Manipulator ◽  
Mobile Manipulators ◽  
Control Laws ◽  
Kinematic Control ◽  
Motion Constraints ◽  
Path Following Control ◽  
Cascade Structure

On path following control of nonholonomic mobile manipulatorsThis paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

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