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Trajectory tracking control in workspace-defined tasks for nonholonomic mobile manipulators

Published online by Cambridge University Press:  22 April 2009

Alicja Mazur
Alicja Mazur*
Affiliation:
Institute of Computer Engineering, Control and Robotics, Wrocław University of Technology, ul. Janiszewskiego 11/17, 50-372 Wrocław, Poland
*
*Corresponding author. E-mail: alicja.mazur@pwr.wroc.pl
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Summary

This paper considers a problem of tracking control design for different types of nonholonomic mobile manipulators. The mobile platform is in form of a unicycle. In the first step, an input–output decoupling controller is developed. The proposed selection of output functions is in more general form than the output functions previously introduced by others [Yamamoto and Yun]. It makes possible to move simultaneously, the mobile platform and the manipulator built on it. Regularity conditions that guarantee the existence of the input–output decoupling control law are presented. In the second step, trajectory and path tracking controllers are formulated and presented. Theoretical considerations are illustrated with simulations for the mobile manipulator consisting of a vertical, three degree of freeedom (DOF) pendulum (with holonomic or nonholonomic drives) mounted atop of a unicycle.

Keywords

Nonholonomic constraintMobile manipulatorInput–output decoupling controller
Type
Article
Information
Robotica , Volume 28 , Issue 1 , January 2010 , pp. 57 - 68
Copyright
Copyright © Cambridge University Press 2009

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