A learning paradigm for motion control of mobile manipulators
Foudil Abdessemed, Éric Monacelli, K. Benmahammed · Digital library of Zielona Gora (University of Zielona Góra) · 2006
Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system.