CONTROL OF THE MOBILE MANIPULATOR OPERATING IN CYLINDRICAL COORDINATE SYSTEM
Equations of motion for cylindrical manipulator based on a mobile platform are obtained. To obtain control properties of this system we used the approach considered earlier. The algorithm used to obtain control is based on the fact that programmable motions of the manipulator tip are considered as kinematical binds, which reactions are represented in Appel equations with the help of indefinite multipliers. The procedure of finding the control actions is reduced to search of these multipliers. During the system modeling one of the parameters describing the positions of manipulator's parts is considered to be bounded.