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Nonlinear Controller Design for a Mobile Manipulator Trajectory Tracking †


Abstract –In this paper, a mobile manipulator consisting of four degrees of freedom(4-DOF) robotic manipulator mounted at the top of a mobile platform (front point) of amobile robot with four differential drive wheels is presented. A mobile manipulatorcombines the dexterous manipulator capability offered by fixed-based manipulators andthe mobility offered by the mobile robot. The work involves the modeling of mobilemanipulator robot and using the partial feedback linearization approach. The centralidea is to algebraically transform nonlinear systems dynamics into partially linear form,so that linear control techniques can be applied to control on the wheel mobilemanipulator robot in order to track any trajectory such as an ellipse, circle….etc,without violating the non holonomic constraints. However, and in order to consider theuncertainty in system parameters and the effects of the external disturbances a nonlinearPID controller is proposed in this work. The results demonstrate a good ability of thedesigned nonlinear PID controller in regulating the mobile robot to track the desiredpath in the presence of the external disturbances and the uncertainty in systemparameters

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