سال انتشار: ۱۳۸۴
محل انتشار: سیزدهمین کنفرانس سالانه مهندسی مکانیک
تعداد صفحات: ۸
Rambod Rastegari – Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
Ali Moosavian – Department of Mechanical Engineering K. N. Toosi Univ. of Technology, Tehran, Iran
coefficients are omitted from the motion equation by using "Natural Orthogonal Complement" method and the explicit motion equations are obtained for mobile robotic system with constrained base. By designing the appropriate path of motion, the multiple impedance law is applied on planar robotic systems with two manipulators while the moving base is driven with two differentially driver wheels. The simulation results for object manipulation with non-holonomic mobile robotic system reveal good tracking performance even in the presence of disturbances. Besides, the simulation results show that the MIC law is a robust algorithm considering dynamic parameter perturbations.