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dc.contributor.authorGill, Rajan
dc.contributor.authorKulic, Dana
dc.contributor.authorNielsen, Christopher 13:20:08 (GMT) 13:20:08 (GMT)
dc.descriptionThis is a post-peer-review, pre-copyedit version of an article published in Robotics Research. The final authenticated version is available online at:
dc.description.abstractThis paper presents a framework of path following via set stabilization for mobile manipulator systems. The mobile manipulator is modelled as a single redundant dynamic system. The mobile base considered belongs to a large class of wheeled ground vehicles, including those with nonholonomic constraints. Kinematic redundancies are resolved by designing a controller that solves a suitably defined constrained quadratic optimization problem, which can be easily tuned by the designer to achieve various desired poses. By employing partial feedback linearization, the proposed path following controller has a clear physical meaning. The desired path to be followed is a spline in the output space of the system. The controller simultaneously controls the manipulator and mobile base. The result is a unified path following controller without any trajectory planning performed on the mobile base. The approach is experimentally verified on a 4-degree-of-freedom (4-DOF) manipulator mounted on a differential drive mobile platformen
dc.relation.ispartofseriesRobotics Research: Volume 2;
dc.titlePath Following for Mobile Manipulatorsen
dc.typeBook Chapteren
dcterms.bibliographicCitationGill, R., Kulić, D., & Nielsen, C. (2018). Path Following for Mobile Manipulators. In A. Bicchi & W. Burgard (Eds.), Robotics Research: Volume 2 (pp. 527–544). Springer International Publishing.
uws.contributor.affiliation1Faculty of Engineeringen
uws.contributor.affiliation2Electrical and Computer Engineeringen

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