Modeling and compensation of the dynamic interaction of a mobile manipulator

Abstract

A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a fixed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred configuration. In this paper, we study the effect of the dynamic interaction between the manipulator and the mobile platform of a mobile manipulator on the task performance. We consider the task that the end point of the manipulator tracks a desired trajectory in a fixed reference frame. The effect of the dynamic interaction on the tracking performance is examined by comparing four different cases: (1) without any compensation of the dynamic interaction at all; (2) with the mobile platform compensating the dynamic interaction caused by the manipulator; (3) with the manipulator compensating the dynamic interaction caused by the mobile platform; and (4) with full compensation of the dynamic interaction with each other.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>