Trajectory Planning and Control for Mobile Manipulator Systems
نویسندگان
چکیده
Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a methodology for computing actuator commands for such systems that allow them to follow desired end-effector and platform trajectories without violating the nonholonomic constraints. Based on a reduction of the system dynamics, a model-based controller is designed to eliminate tracking errors without requiring large gains. The validity of the methodology is demonstrated using differential-drive and car-like mobile manipulator systems.
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