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Please use this identifier to cite or link to this item: https://repositorio.uti.edu.ec//handle/123456789/3443
Title: Modelling and control of a mobile manipulator for trajectory tracking
Authors: Varela-Aldás, José
Andaluz, Víctor
Chicaiza, Fernando
Issue Date: 2018
Publisher: Proceedings - 3rd International Conference on Information Systems and Computer Science, INCISCOS 2018. Volume 2018 -December, Pages 69 - 74
Abstract: This article presents the mathematical modelling of a mobile manipulator robot to describe its kinematic and dynamic behaviour; the kinematic model is used to design a control law that allows the autonomous tracking of trajectories in structured spaces; while the dynamic model is used to compensate for speed errors in the robot. Additionally, the stability of the proposed control systems is demonstrated, and finally, simulation and experimentation tests are carried out to validate the proper functioning of the controllers. © 2018 IEEE.
URI: https://ieeexplore.ieee.org/abstract/document/8564510
http://repositorio.uti.edu.ec//handle/123456789/3443
Appears in Collections:Artículos Científicos Indexados

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