Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints are explicitly included in the NMPC formulation. The controller is tested using real-time simulations, which demonstrate high positioning accuracy with tractable computational cost.
@article{arxiv.2103.13153,
title = {End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control},
author = {Mostafa Osman and Mohamed W. Mehrez and Shiyi Yang and Soo Jeon and William Melek},
journal= {arXiv preprint arXiv:2103.13153},
year = {2021}
}
Comments
6 pages, 5 figures, published in the 21st IFAC World Congress (2020)