On path following control of nonholonomic mobile manipulators

Mazur, A. ; Szakiel, D.

International Journal of Applied Mathematics and Computer Science, Tome 19 (2009) no. 4, pp. 561-574.

Résumé

This paper describes the problem of designing control laws for path following robots, including two types of nonholonomic mobile manipulators. Due to a cascade structure of the motion equation, a backstepping procedure is used to achieve motion along a desired path. The control algorithm consists of two simultaneously working controllers: the kinematic controller, solving motion constraints, and the dynamic controller, preserving an appropriate coordination between both subsystems of a mobile manipulator, i.e. the mobile platform and the manipulating arm. A description of the nonholonomic subsystem relative to the desired path using the Frenet parametrization is the basis for formulating the path following problem and designing a kinematic control algorithm. In turn, the dynamic control algorithm is a modification of a passivity-based controller. Theoretical deliberations are illustrated with simulations.

Détail

Keywords: mobile manipulator, nonholonomic constraints, path following, Frenet parametrization
Mots-clés : manipulator ruchomy, więzy nieholonomiczne, śledzenie ścieżki, parametryzacja Freneta

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