Control of Mobile Manipulator with Skid-steering Platform Moving in Unknown Terrain in Presence of Disturbance

Alicja Mazur, Jurek Sasiadek, Mateusz Cholewiński

2013

Abstract

In this paper new approach to control of nonholonomic mobile manipulator with skid-steering platform has been presented. For mathematical model of such object, expressed in auxiliary coordinates, control law based on virtual force concept has been introduced. Skid-steering mobile platform is an underactuated control system with rectangular input matrix. In our approach it was assumed that there exists additional control input, giving additional column in input matrix and causing this matrix to be invertible. Because such actuator does not exists in reality, therefore this input was kept equal to zero equivalently. Simulations have proved that such method works properly in unknown terrain and in presence of disturbances.

Paper Citation

in Harvard Style

Mazur A., Sasiadek J. and Cholewiński M. (2013). Control of Mobile Manipulator with Skid-steering Platform Moving in Unknown Terrain in Presence of Disturbance . In Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8565-70-9, pages 161-168. DOI: 10.5220/0004450801610168

in Bibtex Style

@conference{icinco13,
author={Alicja Mazur and Jurek Sasiadek and Mateusz Cholewiński},
title={Control of Mobile Manipulator with Skid-steering Platform Moving in Unknown Terrain in Presence of Disturbance},
booktitle={Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2013},
pages={161-168},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0004450801610168},
isbn={978-989-8565-70-9},
}

in EndNote Style

TY - CONF
JO - Proceedings of the 10th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - Control of Mobile Manipulator with Skid-steering Platform Moving in Unknown Terrain in Presence of Disturbance
SN - 978-989-8565-70-9
AU - Mazur A.
AU - Sasiadek J.
AU - Cholewiński M.
PY - 2013
SP - 161
EP - 168
DO - 10.5220/0004450801610168