Modelling and control of an omnidirectional mobile manipulator
Salima Djebrani, Abderraouf Benali, Foudil Abdessemed (2012)
International Journal of Applied Mathematics and Computer Science
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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...