Control de posición y seguimiento de trayectorias de un manipulador móvil de 3 grados de libertad

Abstract

Modeling and design of control algorithms for mobile manipulators, has in recent years been subject of interest to both robot builders and researchers. This project studies the kinematic model of a mobile manipulator three degrees of freedom, based on their geometric relationships. Based on the obtained kinematic model four controllers are designed, which control objectives are position control and path tracking of the end effector. To design controllers, three different techniques of control are used; based control minimum norm, linear algebra-based control and sliding mode control. The control systems designed and simulated using MATLAB and SIMULINK. a performance comparison between controllers through integral absolute error index IAE is made. tests are performed using controllers designed in the dynamic model of mobile manipulator. Additionally, experiments are simulated in a graphical environment using the virtual reality of MATLAB.