Robust adaptive position/force control of mobile manipulators with kinematic and dynamic uncertainties

A mobile manipulator is expected to play an important role both in the production process of factory and in a medical care system of welfare business. To come up to this expectation, a mobile manipulator is required to simultaneously track to both the desired position trajectory and force trajectory. These tracking performances are attained by hybrid position/force control. In this paper, we propose a new adaptive control scheme for a mobile manipulator. The proposed adaptive control scheme consists of adaptive tracking control to desired position/force trajectories and robust control for unknown bounded disturbance. Effectiveness of the proposed control scheme is demonstrated by numerical simulation.