Modeling and control of a mobile manipulator in task space
نویسندگان
چکیده
The present paper shows a systematic approach to modeling and control mobile manipulators that transforms the problem to the modeling of a stationary manipulator stationary with nonholonomic kinematic constraints on the joints. The task-space control consists in an internal compensator of the dynamics of the mobile manipulator and an external proportional–derivative (PD) control with feed-forward of the posture acceleration and an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using the proposed control and the results are analyzed.
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