Alert button
Picture for Soo Jeon

Soo Jeon

Alert button

End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control

Mar 24, 2021
Mostafa Osman, Mohamed W. Mehrez, Shiyi Yang, Soo Jeon, William Melek

Figure 1 for End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control
Figure 2 for End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control
Figure 3 for End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control
Figure 4 for End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control

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.

* 6 pages, 5 figures, published in the 21st IFAC World Congress (2020) 
Viaarxiv icon