Adaptive Control of Mobile Manipulator Robot based on Virtual Decomposition Approach

摘要

This paper presents an adaptive control scheme for a mobile manipulator robot based on the virtual decomposition control (VDC). The control strategy was tested on three degrees of freedom manipulator arm mounted on two degrees of freedom mobile platform to track a desired trajectory. The desired trajectory is obtained from the workspace trajectory using the inverse kinematics. Differently to the known decentralized control that divides the mobile manipulator into two subsystems, in this paper, the mobile manipulator has N degrees of freedom, divided virtually into N subsystems. The applicability of the proposed scheme is demonstrated in real time validation. The experimental results show the effectiveness of the VDC approach.