Task-space pose decomposition motion control of a mobile manipulator

Abstract

This paper presents a task-space pose decomposition motion control scheme for a mobile manipulator to simplify the complexity of the conventional task-space pose control. The proposed scheme is decomposing the task-space pose vector (positions and orientation of the end effector) into a position vector and an orientation vector. Further the decomposed position vector (end effector position) is controlled through the task-space control and the orientation vector is controlled by using a joint-space control. The efficacy of the proposed control scheme is demonstrated numerically on a planar mobile manipulator (consists of a mobile platform and two link revolute (2R) serial planar manipulator) and the proposed scheme is compared with the conventional task-space pose control scheme. © Springer Nature Singapore Pte Ltd. 2019.