Subsystem control based target tracking for two-wheeled mobile manipulator

To date, robots are expected to work in human environment. However, symbiotic robots need advanced abilities. In this research, we pay attention to ¿movement ability¿ and ¿recognition ability¿. We chose two-wheeled mobile manipulator with a monocular camera. Therefore, the purpose is to achieve both the target tracking and the attitude stabilization. Firstly, the new visual servoing is proposed in the work space. In addition, some controls are designed in the null space. Experiment was carried out to show the validity of the proposed method.