Modelling and Control of a Mobile Manipulator for Trajectory Tracking

Abstract

This article presents the mathematical modelling of a mobile manipulator robot to describe its kinematic and dynamic behaviour; the kinematic model is used to design a control law that allows the autonomous tracking of trajectories in structured spaces; while the dynamic model is used to compensate for speed errors in the robot. Additionally, the stability of the proposed control systems is demonstrated, and finally, simulation and experimentation tests are carried out to validate the proper functioning of the controllers.