TY  - JOUR
T1  - Sliding Modes, Differential Flatness and Servosystem Control for a
Mobile Platform with 8 Degrees of Fredom
AU - C., Angie J. Valencia AU - Aviles, Oscar F. AU - Mauledoux, Mauricio F. 
JO  - Journal of Engineering and Applied Sciences
VL  - 14
IS  - 3
SP  - 666
EP  - 674
PY  - 2019
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2019.666.674
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2019.666.674
KW  - Arm manipulator
KW  -articulated pair
KW  -degrees of freedom
KW  -dynamic
KW  -flatness differential controller
KW  -generalized coordinates
KW  -servosystem controller
KW  -sliding modes controller
AB  - The first step in the mobile manipulator control is to know in detail its configuration it means to
analyze the main elements distribution that represent the mechanism such as: joints, wheels, motors, sensors,
among others. When defining the configurations, the degrees of freedom that must be considered for the
design of the controllers are determined. Therefore, in the present research the algorithms of control of a mobile
manipulator of 8 degrees of freedom constituted by a manipulator of 5 degrees of freedom are designed of which
four are controllable, besides a mobile platform of 6 wheels of which four are addressable.
ER  -