TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS

Razvan Solea; Daniela Cernega

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Paper

TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS

Topics: Mobile Robots and Autonomous Systems; Modeling, Simulation and Architectures; Robot Design, Development and Control

In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, 21-27, 2011 , Noordwijkerhout, Netherlands

Authors: Razvan Solea and Daniela Cernega

Affiliation: “Dunarea de Jos“ University of Galati, Romania

Keyword(s): Mobile manipulators, Nonlinear control, Kinematics.

Related Ontology Subjects/Areas/Topics: Informatics in Control, Automation and Robotics ; Mobile Robots and Autonomous Systems ; Modeling, Simulation and Architectures ; Robot Design, Development and Control ; Robotics and Automation

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.

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Paper citation in several formats:

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 1: ICINCO; ISBN 978-989-8425-75-1; ISSN 2184-2809, SciTePress, pages 21-27. DOI: 10.5220/0003533200210027

@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 1: ICINCO},
year={2011},
pages={21-27},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003533200210027},
isbn={978-989-8425-75-1},
issn={2184-2809},
}

TY - CONF

JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - TRAJECTORY TRACKING CONTROL OF MOBILE MANIPULATORS BASED ON KINEMATICS
SN - 978-989-8425-75-1
IS - 2184-2809
AU - Solea, R.
AU - Cernega, D.
PY - 2011
SP - 21
EP - 27
DO - 10.5220/0003533200210027
PB - SciTePress