Control of manipulator with gravity center position control on mobile vehicle

This paper describes the development of a mobile manipulator with the control of its gravity center position. We have presented the three degree-of-freedom manipulator with the control of its horizontal gravity center position by using one kinematics redundancy on two dimensional Cartesian coordinates (horizontal and vertical one). So, by adding mobility to this manipulator, we developed a mobile manipulator. It is the characteristic of this mobile manipulator that the control method only controls the gravity center position of the manipulator system, not the mobile system. Furthermore, we present the compensation method for the inertia force in the moving mobile system