Modeling and Inertial Parameter Estimation of Cart-like Nonholonomic Systems Using a Mobile Manipulator
Sergio Aguilera,Muhammad Ali Murtaza,Jonathan Rogers,Seth Hutchinson,Sergio Aguilera,Muhammad Ali Murtaza,Jonathan Rogers,Seth Hutchinson
To enable a mobile manipulator to effectively maneuver a cart, we derive a dynamic model for the cart that incorporates the nonholonomic constraints on its motion, and use this model to formulate an estimator for the cart's inertial parameters. By deriving the dynamic equations of the cart using a constrained Euler-Lagrange formulation, we are able to directly incorporate nonholonomic constraints ...
