Model Prediction Control of Two Wheeled Mobile Manipulator

Abstract

Abstract. This paper proposes a model prediction control of two wheeled mobile manipulator. The combination of manipulator and two wheeled mobile robot (T-WMR) has been the focus of research in recent year. However, the dynamic analysis is difficult for a multi-DOF mobile manipulator. Moreover, the dynamic equations are complex and will cost great amount of computation time. Real time control is difficult to be realized. Therefore, the system is un-integrated and controlled independently. The effectiveness of the proposed control method has been demonstrated through the experiments.