Modified computed torque control for trajectory tracking of a 8 DOF mobile manipulator robot

Abstract

In this paper, a nonlinear controller based on a computed torque control scheme is proposed for solving the trajectory tracking problem of a 8 DOF mobile manipulator robot, considering a (2,0) type differential mobile robot that satisfy its nonholonomic constraint. A stability analisys using Lyapunov method is presented; semiglobal, uniformly ultimately bounded (UUB) stability is proved. Numeric simulation with a circular parametric trajectory using KUKA youBot model is shown. Results show an effective convergence and good control performance.