Control of mobile manipulators following a moving surface

A control algorithm for mobile manipulators is presented. The task for the mobile manipulator is to follow a moving surface. The control algorithm is developed based on the concept of a preferred operating region. The nonholonomically constrained mobile platform is controlled to bring the end point of the manipulator into the preferred operating region. The manipulator is force-controlled to keep in contact with the moving surface. The control algorithm is tested on an experimental mobile manipulator built from a TRC LABMATE mobile platform and a PUMA 250 robot manipulator. Experimental results are presented to demonstrate the efficacy of the control algorithm.<<ETX>>

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