Trajectory Tracking for Mobile Manipulators : A Comparison of Control Laws and Optimization of the Reachable Workspace
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.
AT THIS PAGE YOU CAN DOWNLOAD THE WHOLE ESSAY. (follow the link to the next page)