A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics

Kyohei Umemoto, Toshiyuki Murakami. A position tracking control of two wheel mobile manipulator using COG trajectory based on zero dynamics. In 38th Annual Conference on IEEE Industrial Electronics Society, IECON 2012, Montreal, QC, Canada, October 25-28, 2012. pages 2638-2643, IEEE, 2012. [doi]

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