Study on Coordinated Control and Hardware System of a Mobile Manipulator

A hierarchical intelligent controller based on neural network was proposed for the coordinated control of a mobile manipulator that a multi-link manipulator mounted upon a wheeled mobile platform. It consists of three levels: decision level, processing level and execution level. The controller can identify and compensate for dynamics coupling of the unknown mobile platform and the manipulator. The kinematics sub-models of the manipulator and the wheeled mobile vehicle were established. And the unified kinematics of the mobile manipulator was analysed. The mobile manipulator was constructed with a Pioneer 3 H8-AT mobile platform and a 5 degree of freedom manipulator and many sensors. Certain experiments had been done to test the mobile manipulator. It can identify and remedy the leakage points of jugs filled with danger chemicals.