The Serret–Frenet parametrization in a control of a mobile manipulator of (nh, h) type

This paper addresses a path following problem for mobile manipulators of (nh, h) type. The desired task was decomposed into two independent parts: the end-effector of the manipulator has to follow a path described relative to the platform and the platform has to follow a path lying on the plane. The Serret–Frenet parametrization was used to describe the non-holonomic system relative to the desired path. The proposed control strategy consists of two parts, kinematic controller and dynamic controller, because of the presence of nonholonomic constraints.