Sliding-mode-based Control of Omnidirectional Mobile Manipulators
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Omnidirectional mobile manipulator, which omnidirectional mobile platform has total three DOF in the motion plane, is not affected by nonholonomic constraints. Consequently, the motion performance of the omnidirectional mobile platform is much better than the differential-driven mobile platform, which is restricted by the nonholonomic constraint. Therefore, motion control of omnidirectional mobile manipulator systems is challengeable in both theory and application.
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