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Modelling and control of an omnidirectional mobile manipulator

Salima Djebrani;  Abderraouf Benali;  Foudil Abdessemed — 2012

International Journal of Applied Mathematics and Computer Science

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of our holonomic mobile manipulator is built of two joint manipulators mounted on a holonomic vehicle. The...

A learning paradigm for motion control of mobile manipulators

Foudil Abdessemed;  Eric Monacelli;  Khier Benmahammed — 2006

International Journal of Applied Mathematics and Computer Science

Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation results are...

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