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 language | English |
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Pages (from-to) | 271-276 |
Number of pages | 6 |
Journal | Lecture Notes in Computer Science |
Volume | 3498 |
Issue number | III |
Publication status | Published - 26 Sept 2005 |
Externally published | Yes |
Event | Second International Symposium on Neural Networks: Advances in Neural Networks - ISNN 2005 - Chongqing, China Duration: 30 May 2005 → 1 Jun 2005 |
ASJC Scopus subject areas
- Computer Science (miscellaneous)