ABSTRACT
The chapter investigates adaptive hybrid motion/force control for constrained
mobile manipulators. The mobile manipulator is subject to nonholonomic con-
straints, which could be formulated as non-integrable differential equations
containing time-derivatives of generalized coordinates (velocity, acceleration,
etc.). Due to Brockett’s theorem [135], it is well known that nonholonomic
systems with restricted mobility cannot be stabilized to a desired configura-
of Mobile
tion nor posture via differentiable, or even continuous, pure state feedback.
Moreover, the holonomic constraints also bring the force constraint to the
end-effector.
