Development of the robotic motion controller for a wheeled manipulator

摘要

For many years, wheeled manipulator (WM) becomes an effective solution in many aspects of our economics such that it assists to maintain the highly manufacturing production. In this work, the proposed design of motion controller for WM to handle an object is introduced. The hardware of this WM consists of two components, mobile platform and robotic manipulator. Our concept is to design the structure of differential drive for mobile base while the configuration of on-board manipulator is the parallelogram mechanism. Owing to this architecture, the system modelling of whole body is then established to identify related constraints. To ensure the sustainable movement, the system state is asymptotically stable according to Lyapunov candidate function. Both numerical simulation and practical experiment are validated in various test scenarios. With 20 demonstrations for each task, the proposed approach reaches to success rate over 90% of test cases which well-track the desired trajectory and precisely complete the robotic manipulation.