| dc.creator | Gastón H., Salazar-Silva | |
| dc.creator | Marco A., Moreno-Armendáriz | |
| dc.creator | Jaime, Álvarez Gallegos | |
| dc.date.accessioned | 2013-03-23T01:15:00Z | |
| dc.date.available | 2013-03-23T01:15:00Z | |
| dc.date.created | 2013-03-23T01:15:00Z | |
| dc.date.issued | 2012-12-10 | |
| dc.identifier | Revista Computación y Sistemas; Vol. 16 No. 4 | |
| dc.identifier | 1405-5546 | |
| dc.identifier | http://www.repositoriodigital.ipn.mx/handle/123456789/14684 | |
| dc.description.abstract | Abstract: A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional–derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method. | |
| dc.language | en_US | |
| dc.publisher | Revista Computación y Sistemas; Vol. 16 No. 4 | |
| dc.relation | Revista Computación y Sistemas;Vol. 16 No. 4 | |
| dc.subject | Keywords: Robot control, mobile manipulators, robots kinematics. | |
| dc.title | Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional–Derivative Control | |
| dc.type | Article | |
