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Introduction to Mobile Robot Control by Spyros G Tzafestas

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10

Mobile Manipulator Modeling and Control

Mobile manipulators (MMs) are robotic systems consisting of articulated arms (manipulators) mounted on holonomic or nonholonomic mobile platforms. They provide the dexterity of the former and the workspace extension of the latter. They are able to reach and work over objects that are initially outside the working space of the articulated arm. Therefore, MMs are appealing for many applications, and today they constitute the main body of service robots. One of the principal and most challenging problems in MMs research is to design accurate controllers for the entire system.

The objectives of this chapter are (i) to present the Denavit–Hartenberg method of articulated robots’ kinematic modeling, and provide ...

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