Adaptive unified motion control of mobile manipulators |
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Authors: | Víctor Andaluz Flavio Roberti Juan Marcos Toibero Ricardo Carelli |
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Affiliation: | 1. Facultad de Informática y Electrónica, Escuela Superior Politécnica de Chimborazo, Panamericana Sur km 1 1/2, Riobamba, Ecuador;2. Instituto de Automática, Universidad Nacional de San Juan, Av. San Martin Oeste 1109, San Juan, Argentina;3. Concejo Nacional de Investigaciones Científicas y Técnicas, Argentina |
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Abstract: | This paper presents a unified motion controller for mobile manipulators which not only solves the problems of point stabilization and trajectory tracking but also the path following problem. The control problem is solved based on the kinematic model of the robot. Then, a dynamic compensation is considered based on a dynamic model with inputs being the reference velocities to the mobile platform and the manipulator joints. An adaptive controller for on-line updating the robot dynamics is also proposed. Stability and robustness of the complete control system are proved through the Lyapunov method. The performance of the proposed controller is shown through real experiments. |
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