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This paper proposed a tracking controller for an omnidirectional mobile manipulator system, a three-linked manipulator mounted on a three-wheeled omnidirectional mobile platform, to track a desired trajectory with constant desired velocity. An end-effector mounted at the end of a manipulator of the omnidirectional mobile manipulator system is controlled to track a desired trajectory with constant...
This paper proposes a sliding mode control approach for a wheeled mobile manipulator. The wheeled mobile manipulator composed of a four-wheeled mobile platform and a three-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control methods are employed. The entire control system is decomposed into two subsystems, including the sliding mode control of the...
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