Modeling and Control of an Omnidirectional Mobile Robot

Abstract

This paper presents the modeling and control of a spatial omnidirectional mobile manipulator, which consists of a robotic manipulator mounted upon a wheeled mobile platform. The holonomic omnidirectional platform is composed of three lateral orthogonal-wheels, and the manipulator is a three rotational joints robotic arm. The analytical kinematic and dynamic model is derived considering the features of the entire mechanical system composed of the platform and the robotic manipulator. The next part of the paper deals with the control of the mobile manipulator. At .first, the computed torque controller is realized; then, a robust controller is implemented to take into account the imprecision of the numerical parameters of the robot as well as any other model uncertainties.