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New approach to designing input-output decoupling controllers for mobile manipulators

Mazur A.

Bulletin of the Polish Academy of Sciences. Technical Sciences

2005

Vol. 53, nr 1

31-37

Main topic of the paper is a problem of designing the input-output decoupling controllers for nonholonomic mobile manipulators. We propose a selection of output functions in much more general form than in [1,2]. Regularity conditions guaranteeing the existence of the input-output decoupling control law are presented. Theoretical considerations are illustrated with simulations for mobile manipulator consisting of RTR robotic arm mounted atop of a unicycle which moves in 3D-space.