Position-force control of nonholonomic mobile manipulator with simple holonomic constraint

In the paper a control algorithm for a nonholonomic mobile manipulator with simple holonomic constraint on robot joint has been presented. Reduced dynamics of a whole system defined on constraint surface have been developed. A new control algorithm, divided into position control law for unconstrained subsystem and force control law, expressed in terms of the motion on the constraint manifold has been proposed. Theoretical results are illustrated with simulations.