Acceleration-Level Path Tracking Scheme for Omnidirectional Mobile Robot Manipulators

Omnidirectional mobile robot manipulators (OM-RMs) are widely used in numerous industries due to their flexi-bility and mobility. This field has attracted substantial research attention. However, current research on OMRMs primarily focus on velocity-level control, making it difficult to apply to acceleration-orientated mobile robot manipulators. This study proposes an acceleration-level path tracking scheme for the OMRM. To confirm its effectiveness, path tracking experiments are carried out on two representative trajectories. The simulation results show that the OMRM's end-effector follows the desired paths without any dispersion issues.