Planning and model-based control for mobile manipulators

Papadopoulos, E; Poulakakis, J

dc.contributor.author	Papadopoulos, E	en
dc.contributor.author	Poulakakis, J	en
dc.date.accessioned	2014-03-01T02:49:00Z
dc.date.available	2014-03-01T02:49:00Z
dc.date.issued	2000	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/34200
dc.subject	Mobile Manipulator	en
dc.subject	Model Based Control	en
dc.subject	nonholonomic constraint	en
dc.subject	Planning and Control	en
dc.subject	System Dynamics	en
dc.title	Planning and model-based control for mobile manipulators	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/IROS.2000.895234	en
heal.identifier.secondary	http://dx.doi.org/10.1109/IROS.2000.895234	en
heal.publicationDate	2000	en
heal.abstract	Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a planning and control methodology for such systems allowing them to follow simultaneously desired end-effector and platform trajectories without violating the nonholonomic constraints. Based on a reduction of system dynamics, a model-based controller is designed	en
heal.journalName	International Conference on Intelligent Robots and Systems	en
dc.identifier.doi	10.1109/IROS.2000.895234	en