Robust Compensation Control of Mobile Manipulator Service Robot

A robust compensation control is proposed as anapproach for the robust motion control of a mobilemanipulator service robot comprising a mobile platform with atwo-link arm mounted on top of the platform. Considering thecoupling disturbance between the platform and themanipulator, nominal model of service robot is built, computedtorque and proportion-differential (PD) feedback controlmethod is presented, non-linear feedback is used to decouplethe control system. Aiming at the modeling uncertainty andexisting uncertainties disturbances, compensation is adoptedfor the built control law. Lyapunov method is adopted todetermine the compensation item, and by these, the robustmotion control of the mobile manipulator service robot isrealized. Simulation experiment had been done for the mobileplatform and the manipulator, experiment results show that,the presented control method can realize the robust control ofmobile manipulator service robot, and thus show theeffectiveness and correctness of the designed controller.