Modeling and control in task-space of a mobile manipulator with cancellation of factory-installed proportional - Derivative control

A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional - derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method.