Abstract
This paper proposes a model prediction control of two wheeled mobile manipulator. The combination of manipulator and two wheeled mobile robot (T-WMR) has been the focus of research in recent year. However, the dynamic analysis is difficult for a multi-DOF mobile manipulator. Moreover, the dynamic equations are complex and will cost great amount of computation time. Real time control is difficult to be realized. Therefore, the system is un-integrated and controlled independently. The effectiveness of the proposed control method has been demonstrated through the experiments.
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Ha, HW., Yoon, HN., Kim, YK., Lee, DH., Lee, JM. (2015). Model Prediction Control of Two Wheeled Mobile Manipulator. In: Liu, H., Kubota, N., Zhu, X., Dillmann, R., Zhou, D. (eds) Intelligent Robotics and Applications. ICIRA 2015. Lecture Notes in Computer Science(), vol 9245. Springer, Cham. https://doi.org/10.1007/978-3-319-22876-1_15
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DOI: https://doi.org/10.1007/978-3-319-22876-1_15
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