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Control of manipulators and wheeled transport robots as systems of rigid bodies

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International Applied Mechanics Aims and scope

Abstract

Problems of control of robots (manipulators and wheeled transport robots) that are considered as controllable systems of rigid bodies with holonomic and nonholonomic constraints are reviewed. The basic problems that arise in designing systems of control of such facilities are considered. Namely, the equations of model motion are derived, a specified trajectory is parametrized, and a stabilization algorithm is synthesized (including linear, nonlinear, adaptive, and robust controllers). Some model examples are given to illustrate the efficiency of the algorithms considered.

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  1. V. B. Larin
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S.P. Timoshenko Institute of Mechanics, National Academy of Sciences of Ukraine, Kiev. Translated from Prikladnaya Mekhanika, Vol. 36, No. 4, pp. 35–67, April, 2000.

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Larin, V.B. Control of manipulators and wheeled transport robots as systems of rigid bodies. Int Appl Mech 36, 449–481 (2000). https://doi.org/10.1007/BF02681970

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