A Car-like Mobile Manipulator with an n-link Prismatic Arm

In this research, the Lyapunov based Control Scheme (LbCS) is used to solve the motion planning and control problem of a car-like mobile robot with a long extendible prismatic arm comprising $n \in\mathrm{N}$ links. The prismatic arm consists of a base revolute joint and $n \in\mathrm{N}$ translational joints, and is mounted on the wheeled car-like mobile platform. The kinematic model of the manipulator is developed, and velocity based algorithms are utilized to firstly, move the car-like base from an initial position to its pseudo-target and secondly, maneuver the end-effector to its designated target, taking into account the restrictions and limitations of the prismatic links and the steering control laws of the system. Computer simulations are presented to illustrate the effectiveness of the proposed control laws.