Authors : Angie J. Valencia C., Oscar F. Aviles and Mauricio F. Mauledoux
Abstract: The first step in the mobile manipulator control is to know in detail its configuration it means to analyze the main elements distribution that represent the mechanism such as: joints, wheels, motors, sensors, among others. When defining the configurations, the degrees of freedom that must be considered for the design of the controllers are determined. Therefore, in the present research the algorithms of control of a mobile manipulator of 8 degrees of freedom constituted by a manipulator of 5 degrees of freedom are designed of which four are controllable, besides a mobile platform of 6 wheels of which four are addressable.
Angie J. Valencia C., Oscar F. Aviles and Mauricio F. Mauledoux, 2019. Sliding Modes, Differential Flatness and Servosystem Control for a Mobile Platform with 8 Degrees of Fredom. Journal of Engineering and Applied Sciences, 14: 666-674.