Kinematic Modeling and Trajectory Tracking of Two-Wheeled Mobile Robot Manipulators at the Acceleration Level

摘要

Traditional coordinated motion planning schemes for mobile robot manipulators are primarily designed at the velocity level, which limits their applicability to acceleration-oriented systems. To address this limitation, this paper proposes, for the first time, a kinematic model and a trajectory tracking scheme for a two-wheeled mobile robot manipulator (TWMRM) at the acceleration level. This innovation enables the TWMRM system to achieve improved precision and stability under complex dynamic conditions. Compared to velocity-level approaches, the proposed acceleration-level scheme is applicable to both acceleration-oriented and velocity-oriented mobile robot manipulators, offering a broader range of applications. To verify the proposed approach, trajectory-tracking simulations show that the TWMRM’s end-effector closely follows the desired trajectory, with position errors on the order of <inline-formula xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink"> <tex-math notation="LaTeX">${10}^{-7}$ </tex-math></inline-formula> and no divergence issue. Additionally, practical experiments confirm the feasibility of the acceleration-level kinematic model and trajectory tracking scheme for real-world applications.