| Resumen |
The present paper shows a systematic approach
to modeling and control mobile manipulators that transforms
the problem to the modeling of a stationary manipulator stationary with nonholonomic kinematic constraints on the joints.
The task-space control consists in an internal compensator
of the dynamics of the mobile manipulator and an external
proportional–derivative (PD) control with feed-forward of the
posture acceleration and an estimate of the derivative of the
posture kinematic model. Finally, a numerical experiment
is presented using the proposed control and the results are
analyzed |
