| || || Prasad, Avinesh.|
| || || A solution to two dimensional findpath problem with mobile manipulators in constrained environments via a Lyapunov based approach|
Institution: University of the South Pacific.
Call No.: Pac QA 871 .P73 2007
Copyright:Under 10% of this thesis may be copied without the authors written permission
Abstract: In this thesis, we study the problem of motion planning and control of 2-link mobile manipulators subject to holonomic and nonholonomic constraints in constrained environments. The mobile manipulator, modelled via its kinematic constraints, consists of a coupling of a holonomic manipulator with a nonholonomic mobile base. Stability analysis of the system is carried out by extracting continuous, time invariant feedback control laws via the direct method of Lyapunov. The effectiveness of the proposed control laws are demonstrated via a number of challenging simulations.