Dynamic modeling and tracking control of a nonholonomic wheeled mobile manipulator with two robotic arms

This paper develops methodologies for modeling and tracking control of two robotic arms mounted on a wheeled mobile robot subject to nonholonomic constraints. Utilizing the Lagrange's equation and the MATHEMATICA package, the exact system dynamic model and structural properties of the vehicle are acquired. With backstepping technique, a nonlinear tracking controller proved by the Lyapunov direct method is proposed to tackle with the nonholonomic effect and dynamic interactions between mobile platform and two manipulators. The proposed controller not only ensures that the entire state of the system asymptotically tracks the desired state trajectories, but also fully compensates the coupled dynamics among subsystems. Simulation results illustrate validity of the derived model as well as effectiveness of the proposed control strategy.