Design and implementation of motion control for teleoperated mobile manipulators

In this paper, we design a teleoperated mobile Manipulator with 8 joints which includes two-driving wheels and 6 arm joints. The workspace of the studied mobile manipulator is much large than that of a fixed-base one. The goal of the mobile manipulator is to track a desired trajectory of space curves in a fixed reference frame. First, by using redundant joints, the motion capability of the end-effector can be achieved and the cooperation can lie realized easily. Further, through joint encoders, we can obtain state information of the mobile manipulator. Based on C-S (Client-Server) mode, we can make the manipulator reach out of the mobile platform and more spaces through teleoperation. Finally, the effectiveness of the proposed method has been substantiated by several experiments which are illustrated.