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Autonomous Control of a Mobile Manipulator

Authors: Shonal Singh, Bibhya Sharma, Jito Vanualailai


This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an initial configuration to a final configuration in a constrained environment cluttered with stationary solid objects of different shapes and sizes. We demonstrate the efficiency of the control scheme and the resulting acceleration controllers of the mobile manipulator with results through computer simulations of an interesting scenario.

Keywords: lyapunov stability, artificial potential fields, kinodynamic constraints, minimum distance technique, nonholonomic manipulator, Lyapunov-based control scheme

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