Trajectory tracking of an 8 degrees of freedom mobile manipulator robot: KUKA youBot.
Abstract
In this paper, a nonlinear controller based on the computed torque technique for solving the trajectory tracking problem is proposed. An 8 degrees of freedom mobile manipulator robot (RMM) considering a (2,0) type differential robot that satisfies the non-holonomic constraint is used. Stability analysis using the Lyapunov’s method is presented; semiglobal, uniform and ultimate boundedness (UUB) stability is proved. Experimental results, using KUKA youBot’s model, are obtained. Results show good control performance and convergence even in presence of parametric uncertainties.
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References
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