In this context, this paper examines a dynamic feedback control design, firstly to treat the trajectory tracking control of a mobile manipulator with model uncertainties and external disturbances and secondly to avoid collision with obstacles during the navigation to add more functionality to mobile robots.
This paper presents a systematic method to establish the kinematics model for a tracked mobile manipulator on firm grounds, with consideration of the interactive motions between the tracks and the terrain, as well as those between the tracked vehicle and the onboard manipulator.
However, kinematics modeling for a tracked mobile manipulator is complicated by the fact that there are infinite number of contact points between the tracks and the terrain, which makes slippage unavoidable.
The work presented in this paper deals with the problem of autonomous and intelligent navigation of mobile manipulator, where the unavailability of a complete mathematical model of robot systems and uncertainties of sensor data make the used of approximate reasoning to the design of autonomous motion control very attractive.
Finally, a numerical simulation for a mobile manipulator, with two flexible links and revolute prismatic joints is carried out to demonstrate the performance of the presented model for such complex systems.
By interactions between a mobile manipulator and the cart, the sensory information is collected to estimate the model parameters of the cart.
We conducted several experiments both in simulation and on a real mobile manipulator PR2 robot, where skills of increasing complexity are evolved.
The disturbances are modeled as changes in the effect of gravitational forces on the mobile manipulator due to its motion over a uneven terrain.
The developed kinematics modeling approach is presented on the basis of a tracked mobile manipulator in our laboratory, but the forward kinematics analysis method, and the track terrain and vehicle manipulator interaction analysis algorithm are general, and can be used for any tracked mobile manipulators with little modification.
To resolve extra degrees of freedom introduced by the base mobility, we proposed additional constraint functions directly in the task space of mobile manipulator.
