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Task space control of mobile manipulators

Published online by Cambridge University Press:  22 March 2010

Mirosław Galicki
Mirosław Galicki*
Affiliation:
Faculty of Mechanical Engineering, University of Zielona Góra, Podgórna 50, 65–246 Zielona Góra, Poland Institute of Medical Statistics, Computer Science and Documentation, Friedrich Schiller University Jena, Jahnstrasse 3, D–07740 Jena, Germany
*
*Corresponding author. E-mail: [email protected]
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Summary

This study offers the solution of the end-effector trajectory tracking problem subject to state constraints, suitably transformed into control-dependent ones, for mobile manipulators. Based on the Lyapunov stability theory, a class of controllers fulfilling the above constraints and generating the mobile manipulator trajectory with (instantaneous) minimal energy, is proposed. The problem of manipulability enforcement is solved here based on an exterior penalty function approach which results in continuous mobile manipulator controls even near boundaries of state constraints. The numerical simulation results carried out for a mobile manipulator consisting of a non-holonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating in a two-dimensional task space, illustrate the performance of the proposed controllers.

Keywords

Mobile manipulatorEnd-effector trajectory trackingLyapunov stability
Type
Article
Information
Robotica , Volume 29 , Issue 2 , March 2011 , pp. 221 - 232
Copyright
Copyright © Cambridge University Press 2010

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