@article{Silva2018,
  title = {Whole-Body {{Control}} of a {{Mobile Manipulator Using Feedback Linearization}} and {{Dual Quaternion Algebra}}},
  author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},
  year = {2018},
  month = aug,
  journal = {Journal of Intelligent \& Robotic Systems},
  volume = {91},
  number = {2},
  pages = {249--262},
  publisher = {Journal of Intelligent \& Robotic Systems},
  issn = {0921-0296},
  doi = {10.1007/s10846-017-0686-3},
  abstract = {This paper presents the whole-body control of a nonholonomic mobile manipulator using feedback lin- earization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the desired end-effector pose, acts as a dynamic trajectory generator for the end-effector, and input signals for both nonholonomic mobile base and manipulator arm are gener- ated by using the pseudoinverse of the whole-body Jacobian matrix. In order to deal with the nonholonomic constraints, the input signal to the mobile base generated by the whole- body motion control is properly remapped to ensure feasi- bility. The Lyapunov stability for the proposed controller is presented and experimental results on a real platform are performed in order to compare the proposed scheme to a tra- ditional classic whole-body linear kinematic controller. The results show that, for similar convergence rate, the nonlin- ear controller is capable of generating smoother movements while having lower control effort than the linear controller.},
  copyright = {All rights reserved},
  keywords = {dual quaternion,Dual quaternion,Mobile manipulat,Mobile manipulator,nonlinear control,Nonlinear control,Whole-body control},
  url = {https://www.researchgate.net/publication/320202323_Whole-body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_and_Dual_Quaternion_Algebra#fullTextFileContent}
}

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V."],"year":2018,"bibtype":"article","biburl":"https://raw.githubusercontent.com/ffasilva/ffasilva.github.io/master/files/bibliography.bib","bibdata":{"bibtype":"article","type":"article","title":"Whole-Body Control of a Mobile Manipulator Using Feedback Linearization and Dual Quaternion Algebra","author":[{"propositions":[],"lastnames":["Silva"],"firstnames":["Frederico","Fernandes","Afonso"],"suffixes":[]},{"propositions":[],"lastnames":["Adorno"],"firstnames":["Bruno","Vilhena"],"suffixes":[]}],"year":"2018","month":"August","journal":"Journal of Intelligent & Robotic Systems","volume":"91","number":"2","pages":"249–262","publisher":"Journal of Intelligent & Robotic Systems","issn":"0921-0296","doi":"10.1007/s10846-017-0686-3","abstract":"This paper presents the whole-body control of a nonholonomic mobile manipulator using feedback lin- earization and dual quaternion algebra. The controller, whose reference is a unit dual quaternion representing the desired end-effector pose, acts as a dynamic trajectory generator for the end-effector, and input signals for both nonholonomic mobile base and manipulator arm are gener- ated by using the pseudoinverse of the whole-body Jacobian matrix. In order to deal with the nonholonomic constraints, the input signal to the mobile base generated by the whole- body motion control is properly remapped to ensure feasi- bility. The Lyapunov stability for the proposed controller is presented and experimental results on a real platform are performed in order to compare the proposed scheme to a tra- ditional classic whole-body linear kinematic controller. The results show that, for similar convergence rate, the nonlin- ear controller is capable of generating smoother movements while having lower control effort than the linear controller.","copyright":"All rights reserved","keywords":"dual quaternion,Dual quaternion,Mobile manipulat,Mobile manipulator,nonlinear control,Nonlinear control,Whole-body control","url":"https://www.researchgate.net/publication/320202323_Whole-body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_and_Dual_Quaternion_Algebra#fullTextFileContent","bibtex":"@article{Silva2018,\n title = {Whole-Body {{Control}} of a {{Mobile Manipulator Using Feedback Linearization}} and {{Dual Quaternion Algebra}}},\n author = {Silva, Frederico Fernandes Afonso and Adorno, Bruno Vilhena},\n year = {2018},\n month = aug,\n journal = {Journal of Intelligent \\& Robotic Systems},\n volume = {91},\n number = {2},\n pages = {249--262},\n publisher = {Journal of Intelligent \\& Robotic Systems},\n issn = {0921-0296},\n doi = {10.1007/s10846-017-0686-3},\n abstract = {This paper presents the whole-body control of a nonholonomic mobile manipulator using feedback lin- earization and dual quaternion algebra. 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The results show that, for similar convergence rate, the nonlin- ear controller is capable of generating smoother movements while having lower control effort than the linear controller.},\n copyright = {All rights reserved},\n keywords = {dual quaternion,Dual quaternion,Mobile manipulat,Mobile manipulator,nonlinear control,Nonlinear control,Whole-body control},\n url = {https://www.researchgate.net/publication/320202323_Whole-body_Control_of_a_Mobile_Manipulator_Using_Feedback_Linearization_and_Dual_Quaternion_Algebra#fullTextFileContent}\n}\n\n","author_short":["Silva, F. F. A.","Adorno, B. 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