A universal λ-tracking controller for mobile manipulators

摘要

This paper presents new control algorithm for special class of robotic manipulators namely for mobile manipulators. The mobile manipulator is a combined system which consists of a rigid manipulator mounted on a wheeled mobile platform (such a platform is called in the literature 'wheeled mobile robot'). This control algorithm is a modification of the classical PD controller with static gain, which does not employ any specific Knowledge of the robot dynamics.