ABSTRACT
Mobile manipulators process strongly coupled dynamics of mobile platforms
and manipulators. If we assume known dynamics, feedback linearization can
be utilized to design nonlinear control, which has attracted a great deal of
research interest in recent years. The central idea of the approach is to alge-
braically transform a nonlinear system dynamics into a (fully or partly) linear
one, so that linear control techniques can be applied. In [101], input-output
feedback linearization was applied to control the mobile platform such that
the manipulator can be positioned at the preferred configurations measured by
its manipulability. In [61], using nonlinear feedback linearization and decou-
pling dynamics, force/position control of the end-effector was proposed and
applied to nonholonomic cart pushing. In [102], the dynamic interaction effect
between the manipulator and the mobile platform of a mobile manipulator
was studied, and nonlinear feedback control for the mobile manipulator was
developed to compensate for the dynamic interaction. In [62], coordination
control of mobile manipulators was presented with two basic task-oriented
controls: end-effector task control and joint posture control.
