Control of a mobile modular manipulator moving on a slope

A mobile modular manipulator, which is composed of three-wheeled mobile platform and a four-degree of freedom modular manipulator, is investigated. An effective control method is applied to the mobile modular manipulator control in case of moving on a slope. Kinematics model is built up and Eider angles are introduced in the algorithms. Dynamics model is established using constraint Lagrange formulation. A model-based controller is designed for tracking a spatial trajectory in a 3-D space. Computer simulations are performed which will verify the validity of the analytical methodology put out in this paper.