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A new approach for mobile manipulator motion control

In this paper a new approach for motion control of a mobile manipulator is presented. On the basis of the task specifications, the algorithm determines the appropriate control variables to respond to the well tracking trajectory. The control strategy employed for either subsystem is achieved by using a robust fuzzy-based controllers. The dynamic model is considered for the robot manipulator whereas kinematic model is considered for the mobile base. A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the system. Simulation results are presented to show the effectiveness of this new scheme.