Abstract
In the paper a new control algorithm for mobile manipulators with skid–steering platform, moving on unknown terrain, has been introduced. The mobile manipulator consists of a skid–steering mobile platform and a 2R rigid manipulating arm mounted on the platform. Due to under–actuation of such mobile platforms, the concept of factitious force (which does not exist in reality and is assumed to be always 0) has been utilised. Presented control law, in adaptive and robust version, guarantees asymptotically fast convergence of tracking errors to 0, which has been proved in the article. Simulations, which have been conducted for object of considerations, confirm that the developed control law works properly even in terrain which parameters are unknown and piece–wise constant.
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
