Wayne J. Book George W. Woodruff SchOOl of Mechanical Engineering, Georgia Institute of Technology, Atlanta, GA 30332 A manipulator system with a large workspace volume and high payload capa~ity has greater link flexibility than do typical industrial robots and teleoperators. N Imk flexibility is significant, position control of the manipulator's end-effector exhibits nonminimum-phase. noncollo...

One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...

In this paper, we discuss a hierarchical belief space system capable of supporting task planning while simultaneously managing uncertainty in a uniform framework. A demonstration of the approach is conducted with a mobile manipulator performing simple assemblies in unstructured environments.

FSR’99 International Conference on Field and Service Robotics, Pittsburgh, PA, Aug. 1999 Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle’s drive system. For smooth accurate motion and coordination w...

We present a skill for the perception of three-dimensional kinematic structures of rigid articulated bodies with revolute and prismatic joints. The ability to acquire such models autonomously is required for general manipulation in unstructured environments. Experiments on a mobile manipulation platform with realworld objects under varying lighting conditions demonstrate the robustness of the p...

ABSTRACT Two recently developed motion control algorithms for mobile manipulators are applied to an experimental system. The manipulator motions induce significant dynamic interactions with its vehicle and suspension. A conventional fixed-base controller, which typically neglects these dynamic interactions, is shown to lead to poor performance. Both mobile manipulator control algorithms, howeve...

A human-mobile manipulator cooperation module is designed to support a target task consisting of the transportation of a rigid object betw een a mobile manipulator and a master human worker. Our approach in troduces an in ten tionrecognition capability in the robot, based on the search for spectral patterns in the force signal measured at the arm gripper. The mobile manipulator takes advan tage...

Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An onl...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...

This paper presents a robust fractional order controller for flexible-joint electrically driven robots under imperfect transformation of control space. The proposed approach is free from manipulator dynamics, thus free from problems associated with torque control strategy in the design and implementation. As a result, the proposed controller is simple, fast response and superior to the torque c...