LQR control for a Mobile Manipulator using COG feedback

In this paper, a LQR controller for a mobile manipulator using COG feedback is proposed. The combination of manipulator and two wheeled mobile robot (T-WMR) has been the focus of research because of their flexibility. However, the dynamic analysis is difficult for a multi-DOF mobile manipulator. Moreover, the dynamic equations are complex and will cost great amount of computation time. Real time control is difficult to be realized. Therefore, the system should be non-integral and controlled independently. The effectiveness of the proposed control method has been demonstrated through experiments.