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Performance comparisons of various control strategies for a mobile manipulator

Abstract : This paper concerns the performance comparisons of different control structures based on various sensors for an agricultural mobile manipulator. The robot 's mobile platform is continuously advancing, pulled by a tractor, while the manipulator executes local tasks. Therefore, an existing prototype has been entirely modelled which allowed us to test each control structure using a dynamic simulator. The simulation results permits to identify the best control structure for the given constraints.
Mots-clés : CEMAGREF
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Conference papers
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https://hal.inrae.fr/hal-02574071
Contributor : Migration Irstea Publications <>
Submitted on : Thursday, May 14, 2020 - 4:13:14 PM
Last modification on : Thursday, November 12, 2020 - 12:54:03 PM

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  • HAL Id : hal-02574071, version 1
  • IRSTEA : PUB00000461

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Pierre Thompson, Gilles Rabatel, François Pierrot, Alain Liégeois, Francis Sevila. Performance comparisons of various control strategies for a mobile manipulator. IROS 95 IEE-RSJ international conference on intelligent robots and systems, Pittsburgh, USA, 5-9 August 1995, 1995, United States. pp.473-479. ⟨hal-02574071⟩

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