(Department seminar no. 63)

Time: June 22nd, 2017, 11:15
Place: room 208 C-3

Speaker: Mirela Kaczmarek

Subject: Position and force control of a mobile manipulator

Speaker: Daniel Gut

Subject: Motion planning with switching dynamic model and nonlinear model of slipping for the Rex mobile platform - feasibility study and research plans

Position and force control of a mobile manipulator

Presentation shows position- force control algorithm for nonholonomic mobile manipulator with simple, geometric holonomic constraint for robot arm. Position – force control law is proposed both for fully known model, as well as for model with parametric uncertainty.

Motion planning with switching dynamic model and nonlinear model of slipping for the Rex mobile platform - feasibility study and research plans

Description of Rex mobile platform switching model with nonlinear wheel slip. Short discussion about different possible implementation of such models in MATLAB environment. Summary of research done so far and next steps definition.