End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control. Issue 2 (2020)

• Record Type: Journal Article
• Authors: Osman, Mostafa; Mehrez, Mohamed W.; Yang, Shiyi; Jeon, Soo; Melek, William
• Is Part Of: IFAC-PapersOnLine. Volume 53:Issue 2(2020)
• Page Start: 9772
• Page End: 9777
• Publication Date: 2020
• Subjects: Mobile manipulator -- task-space control -- non-linear model predictive control; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2020.12.2658
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints are explicitly included in the NMPC formulation. The controller is tested using real-time simulations, which demonstrate high positioning accuracy with tractable computational cost.