Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Trajectory tracking is a common application method for manipulators. However, the performance hard to improve if manipulators contain flexible joints and mismatched uncertainty, especially when trajectory nonholonomic. On basis of Udwadia–Kalaba Fundamental Equation (UKFE), prescribed position or velocity trajectories are creatively transformed into second-order standard differential form. The ...

Control approaches for a two-link exible manipulator are studied in the context of robust synthesis for Linear Parameter-Varying systems. Diier-ent treatments of the inertia matrix variations in the manipulator system are examined in three control law design formulations. The rst two designs are based upon scaled H 1 or structured singular value synthesis. The third design makes use of a new ap...

This paper discusses the development and implementation of a new ergonomic manual control system for a large construction manipulator. The manipulator consists of a 22 ton rough terrain hydraulic crane with a multifunction manipulator attachment. The combined device gives a single operator hydraulic control over eight independent joint axes allowing for dextrous positioning of large sections of...

Torque control strategy is a common strategy to control robotic manipulators. However, it becomes complex duo to manipulator dynamics. In addition, position control of Permanent Magnet Synchronous Motors (PMSMs) is a complicated control. Therefore, tracking control of robots driven by PMSMs is a challenging problem. This article presents a novel tracking control of electrically driven robots wh...

In this paper, we present an extension of the Jaffar-Lassez constraint logic programming scheme that operates with unions of constraint theories with different signatures and decides the satisfiability of mixed constraints by appropriately combining the constraint solvers of the component theories. We describe the extended scheme, and provide logical and operational semantics for it along the l...