Modeling and Control of a Mobile Manipulator with Cancellation of Factory-Installed Regulator

Gastón H. Salazar-Silva, Marco A. Moreno-Armendáriz, and Jaime Álvarez Gallegos


Robot control, Mobile manipulators, Robots kinematics


The introduction of mobile manipulators on unstructured environments brings many interesting research problems, such as their modeling and control. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with nonholonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional–derivative (PD) control. Finally, a numerical experiment is presented using this method.

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