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Finding feasible solutions to motion planning and control problem of robotic systems in different environments with various applications is an active area of research. This article presents a new solution to the motion planning and control problem of a three-dimensional articulated mobile manipulator comprising a car-like mobile platform and a three-dimensional  n -link articulated arm using the Lyapunov-based control scheme. The motion of the system is described as twofold: first, the car-like mobile platform moves from an initial position to its pseudo-target, and second, when the mobile platform is within some predefined distance from the pseudo-target, the end-effector of the robot arm is attracted to its designated target. Therefore, presenting a new 2-Step Algorithm in this paper for dual movement of the articulated mobile manipulator in 3D. In addition, a workspace cluttered with fixed spherical and rod obstacles of random sizes and positions is considered in this research. For the mobile manipulator to avoid an obstacle, the Minimum Distance Technique is adapted where a point on the robot that is closest to an obstacle will avoid the obstacle. The convergence of the two bodies and the stability of the mechanical system are guaranteed by the Lyapunov's direct method. The continuous nonlinear control laws proposed from the control scheme also take into account all mechanical singularities and velocity limitations associated with the system. Theoretical proofs and computer simulations validate the new continuous, acceleration-based, nonlinear, time-invariant control laws.

Motion control of an articulated mobile manipulator in 3D using the Lyapunov-based control scheme