Sliding-mode-based Control of Omnidirectional Mobile Manipulators - Qian, Dianwei
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Omnidirectional mobile manipulator, which omnidirectional mobile platform has total three DOF in the motion plane, is not affected by nonholonomic constraints. Consequently, the motion performance of the omnidirectional mobile platform is much better than the differential-driven mobile platform, which is restricted by the nonholonomic constraint. Therefore, motion control of omnidirectional mobile manipulator systems is challengeable in both theory and application.

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Produktbeschreibung
Omnidirectional mobile manipulator, which omnidirectional mobile platform has total three DOF in the motion plane, is not affected by nonholonomic constraints. Consequently, the motion performance of the omnidirectional mobile platform is much better than the differential-driven mobile platform, which is restricted by the nonholonomic constraint. Therefore, motion control of omnidirectional mobile manipulator systems is challengeable in both theory and application.
Autorenporträt
Dianwei Qian is currently an Associate Professor in the North China Electric Power University, Beijing. He received a Bachelor degree from the Hohai University, Nanjing, in 2003 and a Master degree from the Northeastern University, Shenyang, in 2005 and a PHD degree from the Institute of Automation, Chinese Academy of Sciences, Beijing, in 2008.