Abstract

This paper considers modeling and PID control of a two-wheel mobile robot (TWMR) with a manipulator mounted on the mobile platform. The motion of the mobile platform is such that the endpoint of the manipulator always faces the front of the mobile platform. To achieve this, the mobile robot has its own motion planning in a Cartesian coordinate system. The input–output feedback linearization technique is used to get two linear decoupled model of the system. Two PID controllers are obtained for the decoupled system whose parameters are obtained using trial and error. The simulation is carried out in the SIMULINK platform, and simulation studies are carried out for three different reference paths.

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