An Alternate Control Strategy of a Mobile Manipulator With Hardware and Software Description

This paper presents an approach for desired joint trajectory generation for motion control of a mobile manipulator. The objective is to allow the end-effector tracks a given operational trajectory in a fixed world frame. In this paper, each of the arm and the mobile platform is treated separately. This mode of operation is well suited in simple manipulation tasks like pick and place. We also present the hardware architecture, which makes use of a PC as the host. It is configured in such a way that it performs all the input-output interface operations. On the other hand, we have implemented a low level layer that includes the required hardware for each of the sub-systems making the mobile manipulator. The results presented have tested and showed the effectiveness of the method for tasks like pick and plac