TY  - JOUR
T1  - PD+ and PID Control for a Mobile Manipulator of Eight Degrees of Freedom
AU - Angie J. Valencia, C. AU - F. Aviles, Oscar AU - F. Mauledoux, Mauricio 
JO  - Journal of Engineering and Applied Sciences
VL  - 13
IS  - 12
SP  - 4273
EP  - 4278
PY  - 2018
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2018.4273.4278
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2018.4273.4278
KW  - Degrees of freedom
KW  -dynamics
KW  -generalized coordinates
KW  -manipulator arms
KW  -PD+ controller
KW  -PID controller
KW  -torque
AB  - A mobile manipulator is a mechanism constructed from a robotic manipulator arm, mounted on a
mobile platform. This system combine the advantages of mobile platforms in terms of mobility and expansion
of the workspace of the manipulator and the advantages of the manipulator with its operational functionalities.
However, the functioning of this system is a challenge due to the many degrees of freedom and unstructured
environment that it performs, so, this mechanism, require the design of controllers that allow to obtain desired
behaviors in the defined paths for their operation or make corrections on the positions caused by external or
internal perturbations of the mechanism. For the above, in the present research, it is calculated the PID family
controllers for a mobile manipulator of 8 degrees of freedom with the kinematic decoupling.
ER  -