Robust position/force control of nonholonomic mobile manipulator forconstrained motion on surface in task space

Authors

GÜLİN ELİBOL SEÇİL
SERHAT OBUZ
OSMAN PARLAKTUNA

DOI

10.55730/1300-0632.3811

Abstract

In this paper, a robust controller is developed for a mobile manipulator (MM) to track reference position/force trajectories. Nonholonomic and holonomic constraints are considered for the mobile platform and manipulator, respectively. Additionally, the control design considers the uncertainties in parameters of the dynamics of the mobile manipulator with a bounded time varying additive disturbance (unmodelled effects, external disturbances). A Lyapunov-based stability analysis is used to prove semiglobal uniform ultimate boundedness of the tracking error signals and the position/force of the system track to an arbitrarily small neighborhood of the reference trajectories. Numerical results for a mobile manipulator, which is formed from a differential drive mobile platform and 2 DOF Revolute-Revolute (RR) manipulator, show that the position of the end-effector and the applied force track the desired position and the force trajectories, respectively.

Keywords

Mobile manipulator, position/force control, constrained motion, robust controller, Gazebo Simulation

First Page

785

Last Page

804

Recommended Citation

SEÇİL, GÜLİN ELİBOL; OBUZ, SERHAT; and PARLAKTUNA, OSMAN (2022) "Robust position/force control of nonholonomic mobile manipulator forconstrained motion on surface in task space," Turkish Journal of Electrical Engineering and Computer Sciences: Vol. 30: No. 3, Article 20. https://doi.org/10.55730/1300-0632.3811
Available at: https://journals.tubitak.gov.tr/elektrik/vol30/iss3/20