A new active wheel slip avoidance method for mobile manipulator

The 4-Wheel Skid-Steering Mobile Manipulators (4W-SSMM) have been widely used in many complex task environments, in which, it often encounter all sorts of complicated driving conditions. In these situations, excessive slipping would be likely to happen, and the robot´s tracking stability cannot be assured. In order to solve this problem, a stability control scheme which is based on the slip ratio and an active mechanical arm is proposed in this paper. In this scheme, the load of tire can be changed by changing the motion attitude of the manipulator, the excessive slip can be avoided and the tracking stability of 4W-SSMM can be assured. The dynamic model of it is derived in this paper. The results of the experiment and simulation show that, the model constructed in this paper can reflect the relationship between the motion attitude of the manipulator and the load of tire accurately, and the scheme proposed in this paper is feasible and effective.