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End-Effector Stabilization of a 10-DOF Mobile Manipulator using Nonlinear Model Predictive Control

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arxiv 2103.13153 v1 pith:LG5LLVJ2 submitted 2021-03-24 cs.RO cs.SYeess.SY

Mostafa Osman , Mohamed W. Mehrez , Shiyi Yang , Soo Jeon , William Melek This is my paper
classification cs.ROcs.SYeess.SY
keywords mobilecontrolmodelbaseconstraintscontrollerend-effectormanipulator
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Motion control of mobile manipulators (a robotic arm mounted on a mobile base) can be challenging for complex tasks such as material and package handling. In this paper, a task-space stabilization controller based on Nonlinear Model Predictive Control (NMPC) is designed and implemented to a 10 Degrees of Freedom (DOF) mobile manipulator which consists of a 7-DOF robotic arm and a 3-DOF mobile base. The system model is based on kinematic models where the end-effector orientation is parameterized directly by a rotation matrix. The state and control constraints as well as singularity constraints are explicitly included in the NMPC formulation. The controller is tested using real-time simulations, which demonstrate high positioning accuracy with tractable computational cost.

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  1. Hold My Beer: Learning Gentle Humanoid Locomotion and End-Effector Stabilization Control

    cs.RO 2025-05 conditional novelty 6.0 of 10

    A slow-fast two-agent reinforcement learning architecture with separate upper- and lower-body policies reduces end-effector shaking during humanoid locomotion.

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