Adaptive backstepping control of mobile manipulator robot based on virtual decomposition approach

Abstract

This paper presents an adaptive backstepping control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control scheme was applied on a three degrees of freedom manipulator arm mounted on a two degrees of freedom mobile platform to track a desired workspace trajectory. The desired joint space trajectory is obtained by using the inverse kinematics. In this paper, the mobile manipulator has N degrees of freedom, divided virtually into N subsystems. The validation of the proposed scheme is proved in real time implementation. The experimental results show the effectiveness of the proposed control schemes based on VDC approach.