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Computación y Sistemas

Print version ISSN 1405-5546

Comp. y Sist. vol.16 n.4 México Oct./Dec. 2012




Modeling and Control in Task-Space of a Mobile Manipulator with Cancellation of Factory-Installed Proportional–Derivative Control


Modelado y control en espacio de tarea de un manipulador móvil con cancelación de control proporcional–derivativo instalado en fábrica


Gastón H. Salazar-Silva1, Marco A. Moreno-Armendáriz2, and Jaime Álvarez Gallegos3


1 Unidad Profesional Interdisciplinaria en Ingeniería y Tecnologías Avanzadas, Instituto Politécnico Nacional, Mexico City, Mexico. Correo:

2 Centro de Investigación en Computación, Instituto Politécnico Nacional, Mexico City, Mexico

3 Secretaría de Investigación y Posgrado, Instituto Politécnico Nacional, Mexico City, Mexico.


Article received on 30/06/2011.
Accepted on 24/09/2012.



A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the problem to the modeling of a stationary manipulator with non-holonomic kinematic constraints on the joints. It is also presented a task-space control that cancels a factory-installed proportional–derivative (PD) control and it uses an estimate of the derivative of the posture kinematic model. Finally, a numerical experiment is presented using this method.

Keywords: Robot control, mobile manipulators, robots kinematics.



Un manipulador móvil es un sistema compuesto por un manipulador estacionario montado sobre un robot móvil; un ejemplo particular es un brazo manipulador montado sobre un robot de tracción diferencial. Los manipuladores móviles presentan varias ventajas con respecto a manipuladores estacionarios, por ejemplo un mayor espacio de trabajo. En el presente trabajo se muestra un método para el modelado de manipuladores móvil que transforma el problema a el modelado de un manipulador estacionario con restricciones cinemáticas no holónomas en las articulaciones. También se presenta un control en el espacio de tarea que cancela un control proporcional–diferencial proveniente de fabrica y usa un estimado de la derivada del modelo cinemático de postura. Finalmente, se presentan los resultados obtenidos en un experimento numérico.

Palabras clave: Control de robot, manipuladores móviles, cinemática de robots.





The authors appreciate the support of Mexican Government (SNI, SIP-IPN, COFAA-IPN, PIFI-IPN and CONACYT).



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