Research on the method and experiment of the coordinated control for wheeled mobile manipulators

Mobile manipulators have attracted a lot of interest recently. This paper discusses the development of mobile manipulators in recent years in the aspect of motion planning and coordinated control between mobile platform and manipulator. An intelligent controller based on RBF neural network is introduced for the coordinating control of the mobile manipulator, which mimics human behavior. Simulation results was given out and the method has been applied on the Hebut-II mobile robot platform. Experimental results verified the validity of the method.

I. Introduction

Mobile manipulator is a constrained mechanical system comprising a moving platform subject to kinematic constraints and a multiple degrees of freedom (DOF) manipulator arm mounted on it.