Motion Control of non - Holonomic Mobile Manipulator using Fuzzy Logic
نویسندگان
چکیده
In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that are due to the coupling of holonomic manipulators with non-holonomic bases. In this way, we consider that the platform has a slow and imprecise dynamic response, so we propose to use a fuzzy kinematics control, conversely the manipulator has a rapid and precise dynamic response, a fuzzy controller optimised by a genetic algorithm is proposed for this reason. The simulation results of a car-like plat-form equipped with two link manipulator are given to show the effectiveness of the proposed method .
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