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.
|Number of pages||6|
|Journal||Lecture Notes in Computer Science|
|Publication status||Published - 26 Sep 2005|
|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)