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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CITATION STYLE
Ha, H. W., Yoon, H. N., Kim, Y. K., Lee, D. H., & Lee, J. M. (2015). Model prediction control of two wheeled mobile manipulator. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 9245, pp. 164–172). Springer Verlag. https://doi.org/10.1007/978-3-319-22876-1_15
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