Mobile manipulator modeling with Kane's approach

Tanner, HG; Kyriakopoulos, KJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:16:45Z
dc.date.available	2014-03-01T01:16:45Z
dc.date.issued	2001	en
dc.identifier.issn	0263-5747	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14199
dc.subject	Control strategies	en
dc.subject	Kane's approach	en
dc.subject	Manipulator modeling	en
dc.subject	Non-holonomic restraints	en
dc.subject.classification	Robotics	en
dc.subject.other	Algorithms	en
dc.subject.other	Computational complexity	en
dc.subject.other	Computer simulation	en
dc.subject.other	Constraint theory	en
dc.subject.other	Control system synthesis	en
dc.subject.other	Degrees of freedom (mechanics)	en
dc.subject.other	Geometry	en
dc.subject.other	Lagrange multipliers	en
dc.subject.other	Mathematical models	en
dc.subject.other	Matrix algebra	en
dc.subject.other	Mobile robots	en
dc.subject.other	Motion control	en
dc.subject.other	Kane dynamic equation	en
dc.subject.other	Nonholonomic motion constraint	en
dc.subject.other	Wheeled mobile manipulator	en
dc.subject.other	Manipulators	en
dc.title	Mobile manipulator modeling with Kane's approach	en
heal.type	journalArticle	en
heal.identifier.primary	10.1017/S0263574701003381	en
heal.identifier.secondary	http://dx.doi.org/10.1017/S0263574701003381	en
heal.language	English	en
heal.publicationDate	2001	en
heal.abstract	A wheeled mobile manipulator system is modeled using Kane's dynamic equations. Kane's equations are constructed with minimum effort, are control oriented and provide both physical insight and fast simulations. The powerful tools of Kane's approach for incorporating nonholonomic motion constraints and bringing noncontributing forces into evidence are exploited. Both nonholonomic constraints associated with slipping and skidding as well as conditions for avoiding tipping over are included. The resulting equations, along with the set of constraint equations provide a safe and complete framework for developing control strategies for mobile manipulator systems.	en
heal.publisher	CAMBRIDGE UNIV PRESS	en
heal.journalName	Robotica	en
dc.identifier.doi	10.1017/S0263574701003381	en
dc.identifier.isi	ISI:000172655500010	en
dc.identifier.volume	19	en
dc.identifier.issue	6	en
dc.identifier.spage	675	en
dc.identifier.epage	690	en