Trajectory Tracking for Mobile Manipulators : A Comparison of Control Laws and Optimization of the Reachable Workspace

University essay from KTH/Optimeringslära och systemteori; KTH/Optimeringslära och systemteori; KTH/Optimeringslära och systemteori

Author: Mikael Brudfors; Clara Lynn; Robert Rogersten; [2012]

Keywords: ;

Abstract:

This report investigates how mobile manipulators can be controlled when

an end-eector is required to follow some certain trajectory. The robot

platform is of type (2,0) and is restricted to planar motion under nonholonomic

constraints. The manipulator of the robot are modeled as a series

of chains, connected by revolute joints. Mathematical theory is presented

for both the maximum working range and the reachable workspace of the

manipulator. Three dierent control laws; nonlinear kinematic control with

linear and nonlinear feedback and input/output linearization are derived.

The performance of these control laws are compared in simulations by analysis

of their trajectory tracking errors and their stability. Finally, each control

laws pros and cons are presented.

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