Event-based Motion Planning and Control for Mobile Manipulator

This paper presents a whole-body, event-based motion planning and control method for a non-holonomic, six degrees of freedom (DOF) mobile manipulator. First, the mathematical modeling of the mobile manipulator is intro-duced in order to construct the event-based planning and control framework. Then, the synchronization performance of the mobile base and manipulator is illustrated. Finally, the experimental process verifies that the event-based method has a lower tracking error under the same external conditions by comparing the experimental results of the time- and event-based motion planning and control methods.