Coordination and partial decoupling in tracking control for wheeled mobile manipulators

Vincent Padois (1) , Pascale Chiron (1) , Jean-Yves Fourquet (1) , Adrien Carriay (1)

1 LGP - Laboratoire Génie de Production

We consider tracking control for mobile manipulators built from a wheeled mobile platform and a serial chain robotic arm. Two approaches are presented: the first one is based on global instantaneous kinematics for the whole system whereas the second one follows a decomposition approach that requires trajectory planning for the platform. Since the platform is nonholonomic, different issues have to be carefully studied.

Domaines: Robotique [cs.RO]

Vincent Padois, Pascale Chiron, Jean-Yves Fourquet, Adrien Carriay. Coordination and partial decoupling in tracking control for wheeled mobile manipulators. 35th International Symposium on Robotics, Mar 2004, Paris, France. ⟨hal-00624413⟩