Controlling and stabilising of non-holonomic wheeled mobile robot equipped with manipulator (WMRM)

Mobile robots have a significant contribution to many fields from research, and industry to healthcare and beyond. Wheeled mobile robots (WMR) equipped with manipulators provide a flexible and attractive solution to grasp the targeted object from an unapproachable area where human access is not easy/possible. This research aims to control and stabilise the non-holonomic WMR equipped with a manipulator (WMRM). In this study, the model references adaptive control (MRAC) in conjunction with regulation, pole-placement, and tracking (RST) control scheme is designed to control the non-linear behaviour of the vehicle. The model used in this research has five degrees of freedom (DOF). Three DOFs for the vehicle and the manipulator has two DOFs. The designed control scheme stabilises the disturbances caused by the manipulator due to its continuous movement. Simulation results are compared with the RST controller and the designed scheme ensures higher efficiency, accuracy, robustness, and convergence to stability.