Control of a rover-mounted manipulator

In this paper, we present a control algorithm for a mechanical system built from a six revolute joint robot manipulator mounted on a nonholonomic mobile platform. We describe a global control of this mechanical system which calculates the joint values for both the robot manipulator and the mobile platform. We want the end-effector location (position+orientation) to evolve between starting and final required locations and to follow a required trajectory. First, we present simulated results to illustrate the efficiency of the control algorithm. Then, the controls are implanted and checked on the real mechanical system.