In the view of the rheonomic constraints problem of the mobile manipulator, the corrected orthogonalization method is adopted to solve the problem that velocity and force are not orthogonal under rheonomic constraints. By transforming the system with the designed transformation matrix, the velocity and the force are mapped to the orthogonal spaces. Then, a position/force strategy is designed, which drives the position and force converge to zero. Furthermore, we consider the situation where there is interference in the motor and propose the desired torque control strategy and the desired motor control strategy. The robustness of the system is enhanced. By selecting the proper Lyapunov function, the effectiveness of the proposed strategy is proved. Through simulation, the validity of the above conclusions are verified.
Mobile manipulator Rheonomic constraints Position/force control Lyapunov function
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