TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS

Razvan Solea, Daniela Cernega

Abstract

This paper focuses on the motion planning problem of mobile manipulator systems, i.e. manipulators attached on mobile platforms. The paper presents a methodology for generating trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The contributions of this paper come from the development and evaluation of sliding-mode control scheme for the composite wheeled robot that facilitate maintenance of all kinematic constraints within such systems. Given an arbitrary trajectory,the mobile-manipulator controller must generate a smooth desired trajectory for mobile platform.

References

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Paper Citation


in Harvard Style

Solea R. and Cernega D. (2011). TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8425-75-1, pages 21-27. DOI: 10.5220/0003533200210027


in Bibtex Style

@conference{icinco11,
author={Razvan Solea and Daniela Cernega},
title={TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2011},
pages={21-27},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533200210027},
isbn={978-989-8425-75-1},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS
SN - 978-989-8425-75-1
AU - Solea R.
AU - Cernega D.
PY - 2011
SP - 21
EP - 27
DO - 10.5220/0003533200210027