Dynamic stability analysis and control for the mobile manipulator

摘要

This paper addresses issues of how to develop a small mobile robot controlled by servomotors and DC motors. The control system has been designed which includes the interface circuit, sensor information fusion and control algorithm design. The mechanical dynamic stability has been analyzed since when the manipulator is operated at high speed, the mobile manipulator will overturn easily. This problem was easily ignored by researchers before. This robot with multiple functions of line tracking, obstacle avoiding, light chasing, pumping and evading will lay a good foundation for studying the behaviors of mobile robot.