A Mobile Manipulator Controller Implemented in the Robot Operating System

摘要

This work presents the development of mathematical model of a mobile manipulator and its use to develop a controller based on backstepping nonlinear control and the computed torque control law. This MIMO nonlinear controller was implemented on the Robot Operating System (ROS) environment. The mobile robot is based on the Barrett WAM (Whole Arm Manipulator) and a custom build mobile platform. The dynamic modeling is used to ensure better performance of the controller.