Abstract

SALAZAR-SILVA, Gastón H.; MORENO-ARMENDARIZ, Marco A.  and  ALVAREZ GALLEGOS, Jaime. Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional-Derivative Control. Comp. y Sist. [online]. 2012, vol.16, n.4, pp.409-419. ISSN 2007-9737.

A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional-derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method.

Keywords : Robot control; mobile manipulators; robots kinematics.