Mobile Manipulators Motion Planning Based on Trajectory Tracking Control

  • Razvan Solea
  • Daniela Cristina Cernega
Part of the Lecture Notes in Electrical Engineering book series (LNEE, volume 174)


In order for collaborative manipulators systems to perform their tasks, they have to move an object together. The control purpose for such coordinated systems is to ensure the movement of the mobile platforms and manipulators from an initial position to a desired position. The approach presented in this paper focuses on solving the motion planning problem for only one mobile platform equipped with a manipulator. In order to ensure the smooth movement of the considered system the nonlinear sliding mode control was used to solve the motion planning problem. The paper presents the controller design for the trajectory-tracking problem using the sliding mode control for a mobile platform equipped with a manipulator.


Mobile manipulators Nonlinear control Kinematics Trajectory tracking 


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© Springer-Verlag Berlin Heidelberg 2013

Authors and Affiliations

  1. 1.Department of Automation and Electrical Engineering“Dunarea de Jos” University of GalatiGalatiRomania

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