Kinematic Modeling and Control Algorithm for Non-holonomic Mobile Manipulator and Testing on WMRA system

In this paper, we will explore combining the manipulation of a robotic arm and the mobility of a mobile platform, both in theory and in hardware implementation. First, the kinematic equations of the 7-DoF redundant robotic arm and the 2-DoF non-holonomic mobile platform will be introduced. Second, we will derive the Jacobian equations of the robotic arm and the mobile platform. The two Jacobian equations will be combined into one so we can accomplish the end-effector guided control without the consideration of controlling the mobile platform separately. Finally, we will implement and test these algorithms both on the simulated and physical Wheelchair-Mounted Robotic Arm (WMRA) system. Comparison and analysis of the results will be presented, and future improvements will be discussed.