Mattia Rigotti-Thompson

Ground Disturbance Rejection Approach for Mobile Robotic Manipulators with Hydraulic Actuators

Reducing material spillage by robotic mining mobile manipulators, such as front-end loaders, is necessary to improve mining operations. To this end, the present work proposes an approach to reduce disturbances on the end-effector induced by the terrain and propagated through the wheels and arm links…