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Pick-and-Place Task using Wheeled Mobile Manipulator - A Control Design Perspective

This paper is aimed towards students and roboticists with an objective to provide the concise theoretical and applied knowledge necessary for the control design of mobile manipulator. For this purpose, topics such as kinematics, motion planning and control theory are explored. Moreover, this knowledge is integrated from the perspective of Mecanum wheeled 5-R mobile manipulator for the pick-and-place task of cube. Finally, the paper shows the successful application of the accumulated knowledge in simulated V-REP environment.