Control Based on Feedback Linearization of a Mobile Manipulator Robot for Trajectory Tracking

Samir IKNI; Abdelyazid ACHOUR

doi:https://doi.org/10.55525/tjst.889892

Makale detayları

Control Based on Feedback Linearization of a Mobile Manipulator Robot for Trajectory Tracking

Yazarlar:

Samir IKNI | Abdelyazid ACHOUR

Yayıncı:

Fırat University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.1-9

Belge Tipi:

Makale

Yayın Tarihi:

3/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000639087

Sıklık:

Aylık

eISSN:

1308-9099

pISSN:

1308-9080

DOI:

https://doi.org/10.55525/tjst.889892

Özet:

 

The use of robotic systems has now become almost necessary in various fields. Of which, the realization of any hard or dangerous place requiring an implication of manipulation and locomotion, is necessarily entrusted to a mobile manipulator. In this work, we present a control approach that ensures the stability of the system, based on the linearization of feedback. We have determined the kinematic and dynamic models in order to apply the control with a high degree of accuracy. The approach is validated by simulation tests.

Makale detayları

Control Based on Feedback Linearization of a Mobile Manipulator Robot for Trajectory Tracking

Yazarlar: Samir IKNI | Abdelyazid ACHOUR

Yayıncı: Fırat University

Ana Başlıklar: Uygulamalı fizik

Dergi: Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.1-9

Belge Tipi: Makale

Yayın Tarihi: 3/2022

Belge Dili: İngilizce

Document ID (Org No.): 2000639087

Sıklık: Aylık

eISSN: 1308-9099

pISSN: 1308-9080

DOI: https://doi.org/10.55525/tjst.889892

Sayı

Yazarlar:

Samir IKNI | Abdelyazid ACHOUR

Yayıncı:

Fırat University

Ana Başlıklar:

Uygulamalı fizik

Dergi:

Turkish Journal of Science and Technology 2022 Vol.17 Issue 1, pp.1-9

Belge Tipi:

Makale

Yayın Tarihi:

3/2022

Belge Dili:

İngilizce

Document ID (Org No.):

2000639087

Sıklık:

Aylık

eISSN:

1308-9099

pISSN:

1308-9080

DOI:

https://doi.org/10.55525/tjst.889892