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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| Format: | Thesis |
| Language: | English |
| Published: |
2016
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| Subjects: | |
| Online Access: | http://eprints.utm.my/id/eprint/81675/1/SharimanAbdullahPFKM2016.pdf http://eprints.utm.my/id/eprint/81675/ http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:126339 |
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