Feedforward model with cascading proportional derivative active force control for an articulated arm mobile manipulator
This thesis presents an approach for controlling a mobile manipulator (MM) using a two degree of freedom (DOF) controller which essentially comprises a cascading proportional-derivative (CPD) control and feedforward active force control (FAFC). MM possesses both features of mobile platform and indus...
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| 格式: | Thesis |
| 语言: | English |
| 出版: |
2016
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| 主题: | |
| 在线阅读: | http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf |
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