KEYWORDS: Mobile manipulator, active force control, tracking performance, disturbance rejection, robust control, torque feedback dynamic
ABSTRACT: This paper highlights the use of Active Force Control (AFC) as a disturbance rejection scheme in the motion control of mobile manipulator in 3D space to further enhance the robustness of the robot. The simulation results were compared with the computed torque control scheme to benchmark the performance and robustness of AFC. AFC creates a force or torque feedback within the dynamic system to allow the compensation of sudden disturbance spike in the dynamic system, before passing the loop to the position and velocity controller. Improvement of robustness feature in mobile manipulator can further enhance the capability of the robot to perform outdoor tracking tasks, for example welding and spray painting, which are considerably susceptible to environmental noises. In this simulation study, AFC outperforms its counterpart with distinctively improved robustness feature in trajectory tracking
