Coordinated Control of a Omnidirectional Double Mobile Manipulator

In this paper proposes a coordinated cooperative control algorithm for tracking trajectories applied in two anthropomorphic robotic arms mounted on an omnidirectional platform, which allows the transport of an object in common. For this, the kinematic modelation of the entire coupled system is performed, considering as the position of interest the midpoint of the operative ends of each manipulator and its formation characteristics. The stability of the proposed controller for tracking trajectories using the Lyapunov method is demonstrated analytically, obtaining that the control is asymptotically stable. Finally the results obtained are evaluated in a virtual reality simulation environment.