Authors : C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux
Abstract: A mobile manipulator is a mechanism constructed from a robotic manipulator arm, mounted on a mobile platform. This system combine the advantages of mobile platforms in terms of mobility and expansion of the workspace of the manipulator and the advantages of the manipulator with its operational functionalities. However, the functioning of this system is a challenge due to the many degrees of freedom and unstructured environment that it performs, so, this mechanism, require the design of controllers that allow to obtain desired behaviors in the defined paths for their operation or make corrections on the positions caused by external or internal perturbations of the mechanism. For the above, in the present research, it is calculated the PID family controllers for a mobile manipulator of 8 degrees of freedom with the kinematic decoupling.
C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux, 2018. PD+ and PID Control for a Mobile Manipulator of Eight Degrees of Freedom. Journal of Engineering and Applied Sciences, 13: 4273-4278.