This article describes a process to model the differential motion of a mobile manipulator which is a two-degree-of-freedom robotic arm (pan-tilt) mounted on a wheeled mobile robot (WMR). Next, a new visual servoing is designed for this pan-tilt arm with the purpose of making the image feature of a target converge to the center of the image plane of a camera attached to the arm’s end-effector. | Journal of Computer Science and Cybernetics, , (2017), 339–355 DOI MODELING THE DIFFERENTIAL MOTION OF A MOBILE MANIPULATOR AND DESIGNING A NEW VISUAL SERVOING FOR TRACKING A FLYING TARGET NGUYEN TIEN KIEM1 , HOANG THI THUONG2 , NGUYEN VAN TINH3 1 Faculty of Electronics Engineering Technology, Ha Noi University of Industry of Information and Communication Technology, Thai Nguyen University 3 Institute of Information Technology, Viet Nam Academy of Science and Technology 1 kiemnt@ 2 University Abstract. This article describes a process to model the differential motion of a mobile manipulator which is a two-degree-of-freedom robotic arm (pan-tilt) mounted on a wheeled mobile robot (WMR). Next, a new visual servoing is designed for this pan-tilt arm with the purpose of making the image feature of a target converge to the center of the image plane of a camera attached to the arm’s end-effector. Furthermore, this new visual servoing is able to deal with the uncertainties due to the unknown motions of both the flying target considered as a material point and the WMR moving on the floor. The global uniform asymptotic stability of this visual servoing is guaranteed by Lyapunov criteria. Simulation results implemented by Matlab/Simulink software have confirmed the both validity and performance of the entire control system. Keywords. Global uniform asymptotic stability, image feature, mobile manipulator, track a flying target, unknown trajectory. 1. INTRODUCTION In recent years, mobile manipulators are increasingly applied in many various areas which demand high performance all over the world such as assembly, mining, construction, part transfer in complex works composed of a variety of obstacles (may be known or unknown) and so on. When it comes to the motion problem of mobile manipulators, many researchers have been developing control strategies for the mobile manipulators, or, more precisely, the goal of solving a
