Lagrange based Kinematic Control for a Class of Mobile Manipulators with Physical Constraints

Mobile manipulator could perform tasks in a larger workspace than fixed based manipulators. However, it also brings challenges to high precision kinematic control. The difficulties are mainly concentrated in the system redundancy and sensor noises. In this paper, we propose a novel kinematic controller for a kind of mobile manipulators, which is capable of handling system redundancy, physical constraints and noises. The controller is designed in velocity level, and is compliance to joint angles, velocities as well as accelerations.