Robust control of a mobile manipulator-dynamic modeling approach

Discusses the dynamic modeling and robust control of a spatial mobile manipulator which consists of a robotic manipulator mounted upon a wheeled mobile platform. By considering slip of the wheeled platform´s tires, the assumption of nonholonomic motion is violated. The dynamic equations of motion are derived using the Newton-Euler method and incorporate a nonlinear tire friction model. Then, a robust control method is developed to eliminate the harmful effect of the wheel slip on the tracking performance. The effectiveness of the proposed control algorithm is demonstrated through computer simulation