Dynamic control and analysis of a nonholonomic mobile modular robot

Jingguo Wang, Yangmin Li

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)


This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method.
Original languageEnglish
Title of host publicationIntelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings
Number of pages16
Publication statusPublished - 1 Dec 2009
Externally publishedYes
Event2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009 - Singapore, Singapore
Duration: 16 Dec 200918 Dec 2009

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume5928 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009

ASJC Scopus subject areas

  • Theoretical Computer Science
  • Computer Science(all)

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