Modelling and tracking of mobile manipulator based on screw theory

The method of modeling and trajectory tracking control of nonholonomic mobile manipulator systems is researched.Firstly,by applying screw theory,dynamics model of the nonholonomic mobile manipulator system is established,and then by considering dynamics of the mobile platform and the manipulator subsystems,with dynamic compensation to the control system and integrator backstepping technology,an asymptotically stable trajectory tracking controller of the nonholonomic mobile manipulator system is designed.Analysis and simulations of the system indicate that the designed controller is effective.