Modified computed torque control for trajectory tracking of a 8 DOF mobile manipulator robot.

https://doi.org/10.58571/CNCA.AMCA.2022.038

Resumen: In this paper, a nonlinear controller based on a computed torque control scheme is proposed for solving the trajectory tracking problem of a 8 DOF mobile manipulator robot, considering a (2,0) type differential mobile robot that satisfy its nonholonomic constraint. A stability analisys using Lyapunov method is presented; semiglobal, uniformly ultimately bounded (UUB) stability is proved. Numeric simulation with a circular parametric trajectory using KUKA youBot model is shown. Results show an effective convergence and good control performance.

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Perez-Fuentevilla, J., Morales-Diaz, A. & Rodriguez-Angeles, A. Modified computed torque control for trajectory tracking of a 8 DOF mobile manipulator robot. Memorias del Congreso Nacional de Control Automático, pp. 344-349, 2022. https://doi.org/10.58571/CNCA.AMCA.2022.038

Palabras clave

Control de Sistemas No Lineales; Robótica y Mecatrónica

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