Mohammad Dastranj

Heavy-duty skid-steered mobile manipulators are increasingly used in mining, construction, and forestry, but precise and safe trajectory tracking remains challenging due to rough terrain, heavy payloads, and system reconfiguration requirements. To address this, we utilize a modular model-based control framework that treats the mobile base and manipulator as independent subsystems, allowing each to be controlled separately while ensuring overall stability and safety. This approach enables real-time, efficient operation, and simplifies tool or module changes without redesigning the full system and guarantees safe interaction with the environment. Compared to conventional monolithic or learning-based controllers, our framework emphasizes modularity, formal stability guarantees, and safety assurance, while maintaining real-time performance for heavy-duty manipulators in demanding industrial applications.

Heavy-duty skid-steered mobile manipulators are increasingly used in mining, construction, and forestry, but precise and safe trajectory tracking remains challenging due to rough terrain, heavy payloads, and system reconfiguration requirements.

To address this, we utilize a modular model-based control framework that treats the mobile base and manipulator as independent subsystems, allowing each to be controlled separately while ensuring overall stability and safety.

This approach enables real-time, efficient operation, and simplifies tool or module changes without redesigning the full system and guarantees safe interaction with the environment.

Compared to conventional monolithic or learning-based controllers, our framework emphasizes modularity, formal stability guarantees, and safety assurance, while maintaining real-time performance for heavy-duty manipulators in demanding industrial applications.