Abstract
In the paper a new control algorithm preserving a path following for special class of mobile manipulators, namely for nonholonomic mobile manipulators, is presented. The mobile manipulator is a robotic system consisting of a mobile platform equipped with non-deformable wheels and a manipulator mounted on this platform. Such a composed system is able to realize manipulation tasks in a much larger workspace than a manipulator with a fixed base. Taking into account the type of constraints of both subsystems, there are 4 possible configurations of mobile manipulators: type (h, h) - a holonomic manipulator on a holonomic platform, type (h, nh) - a holonomic platform with a nonholonomic manipulator, type (nh, h) - a nonholonomic platform with a holonomic manipulator, and finally type (nh, nh) - both the platform and the manipulator nonholonomic. In our considerations we focus on the nonholonomic mobile manipulator of the (nh, h) type.
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Mazur, A. (2007). Path Following for Nonholonomic Mobile Manipulators. In: Kozłowski, K. (eds) Robot Motion and Control 2007. Lecture Notes in Control and Information Sciences, vol 360. Springer, London. https://doi.org/10.1007/978-1-84628-974-3_25
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DOI: https://doi.org/10.1007/978-1-84628-974-3_25
Publisher Name: Springer, London
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