Abstract
The path-tracking problem of a wheeled mobile manipulator is addressed in this work. Instead of the classical kinematics model-based control commonly considered, the analysis of the problem is based on the dynamic model of the system. Borrowed from the rigid robot manipulator literature, the well-known computed torque control strategy is applied to control a wheeled mobile manipulator in the task space.
Highlights
Mobile manipulators refer to robotic manipulator mounted on a mobile platform
In [11], we developed a model-based PD-like controller based on the dynamics of the mobile manipulator in order to eliminate tracking errors
The works in [13,14,15] consider the end-effector tracking problem where the reference signals are given in the task space, but they consider a simple structure of mobile manipulators
Summary
Mobile manipulators refer to robotic manipulator mounted on a mobile platform. Such systems combine the advantages of mobile platform and robotic manipulator and reduce their drawbacks. In [4], a generic scheme to solve the kinematic control problem of mobile manipulator is proposed when the operational motion is based on the additional task. In [11], we developed a model-based PD-like controller based on the dynamics of the mobile manipulator in order to eliminate tracking errors.
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