Adaptive neural-network control for redundant nonholonomic mobile modular manipulators

Yangmin Li, Yugang Liu, Shaoze Yan

Research output: Journal article publicationConference articleAcademic researchpeer-review

1 Citation (Scopus)

Abstract

This paper discusses the trajectory following issue for redundant nonholonomic mobile modular manipulators. Dynamic model is established and an adaptive neural-network controller is developed to control the end-effector to follow a desired spacial trajectory. The proposed algorithm doesn't need any priori dynamics and provides a new solution for stabilization of redundant robotic self-motions. Simulation results for a real robot demonstrate the proposed algorithm is effective.
Original languageEnglish
Pages (from-to)271-276
Number of pages6
JournalLecture Notes in Computer Science
Volume3498
Issue numberIII
Publication statusPublished - 26 Sep 2005
Externally publishedYes
EventSecond International Symposium on Neural Networks: Advances in Neural Networks - ISNN 2005 - Chongqing, China
Duration: 30 May 20051 Jun 2005

ASJC Scopus subject areas

  • Computer Science (miscellaneous)

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