Abstract

Modeling and control of a mobile robotic manipulator having a wheeled platform, with passive and active suspension, and a manipulator carrying an inertia load, is studied. The overall model is developed in a nonlinear singular neutral time delay system form. The special case of flat road and single joint manipulator is studied and the linear approximant of its model is derived. Using a dynamic controller involving delays, I/O decoupling between the vertical position of the load and the velocity of the wheeled platform under the constraint of norm bounded load contact forces, is derived.

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