Amirkabir University of Technology Amirkabir Journal of Mechanical Engineering 2008-6032 53 Issue 2 (Special Issue) 2021 04 21 Modeling and trajectory tracking control of non-holonomic mobile robot with revolute-prismatic joints Modeling and trajectory tracking control of non-holonomic mobile robot with revolute-prismatic joints 1041 1064 3875 10.22060/mej.2020.16853.6456 FA Hossein Mirzaeinejad Shahid Bahonar university of Kerman, Kerman Ali Mohammad Shafei Shahid Bahonar university of Kerman, Kerman Journal Article 2019 07 31 One of the main topics in the field of robotics is the modeling and control of mobile robots in the trajectory tracking problem. In this paper, the kinematic and dynamic models of a manipulator connected by revolute-prismatic joints and installed in a non-holonomic wheeled mobile platform are first derived by applying the recursive Gibbs-Appell method. Indeed, by employing this dynamic methodology, one gets rid of the difficulties of Lagrange Multipliers that originate from non-holonomic constraints. Then, a nonlinear predictive approach is applied to design the kinematic and dynamic control laws to generate trajectory tracking control commands of the non-holonomic robot. In this method, the nonlinear responses of the mobile robot are predicted using the Taylor series. The optimal control laws are analytically developed by minimizing the difference between the predicted and the desired responses of the system outputs. The obtained control inputs from a multivariable kinematic controller in the first stage are then used as the desired values to be tracked by the dynamic controller. Finally, the results of numerical simulations are then presented to emphasize the ability of the proposed method in the mathematical modeling and simultaneous trajectory tracking control of the mobile base and end-effector of such complex robotic systems. One of the main topics in the field of robotics is the modeling and control of mobile robots in the trajectory tracking problem. In this paper, the kinematic and dynamic models of a manipulator connected by revolute-prismatic joints and installed in a non-holonomic wheeled mobile platform are first derived by applying the recursive Gibbs-Appell method. Indeed, by employing this dynamic methodology, one gets rid of the difficulties of Lagrange Multipliers that originate from non-holonomic constraints. Then, a nonlinear predictive approach is applied to design the kinematic and dynamic control laws to generate trajectory tracking control commands of the non-holonomic robot. In this method, the nonlinear responses of the mobile robot are predicted using the Taylor series. The optimal control laws are analytically developed by minimizing the difference between the predicted and the desired responses of the system outputs. The obtained control inputs from a multivariable kinematic controller in the first stage are then used as the desired values to be tracked by the dynamic controller. Finally, the results of numerical simulations are then presented to emphasize the ability of the proposed method in the mathematical modeling and simultaneous trajectory tracking control of the mobile base and end-effector of such complex robotic systems. https://mej.aut.ac.ir/article_3875_ccc81a97c1535f9a631b9db584a264e4.pdf