Mohammad Dastranj

Mobile manipulators, due to their versatility, are a promising tool to use in different working fields such as mining, construction and forestry. Using a mobile manipulator for these tasks faces different challenges that need to be addressed in research.
One major challenge in the field of mobile manipulators is that the conventional control methods need the dynamics of the entire system. This means that if a working tool is added or replaced by a different one, new dynamics modelling and controller design is required. In this research, we aim to utilize a control method, that considers dynamic systems as a combination of sub-systems, to control a heavy-duty mobile manipulator that is intended to work in rough-terrain areas. Using the chosen control method, the platform and the tools can be modelled separately, and controllers can be designed individually. This method also has the advantage of verifying the stability of the entire system by the stability of all the sub-systems. It should be noted that the safety factors will be considered in the robot-environment interactions.
With the mentioned plans for this research, we aim to solve some of the existing issues in the control of mobile manipulators and facilitate the use of mobile manipulators in various industrial fields.