Autonomous robot calibration is defined as the process of determining a robot’s model by using only its internal sensors. It is shown that autonomous calibration of a manipulator and stereo camera system is possible. The proposed autonomous calibration algorithm may obtain the manipulator kinematic parameters, external kinematic camera parameters, and internal camera parameters. To do this, onl...

We present a sampling-based mobile manipulator planner that considers the base pose uncertainty and the effects of this uncertainty on manipulator motions. The overall planner has three distinct and novel features: i) it uses the Hierarchical and Adaptive Mobile Manipulator Planner (HAMP) that plans for both the base and the arm in a judicious manner, ii) it uses localization aware sampling and...

Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile platform are investigated in this paper. In order for the mobile manipulator robotic system (MMRS) to return to its initial state when the manipulator’s end-effector is requested to execute cyclical tasks, a quadratic program (QP) based repetitive motion planning and feedback control (RMPFC) scheme is proposed and...

This article will introduce a robust vision system which was implemented on a mobile manipulator. This robot has to find objects and deliver them to pre specified locations. In the first stage, a method which is named color adjacency method was employed. However, this method needs a large amount of memory and the process is very slow on computers with small memories. Therefore since the previou...

Mobile mechanical manipulators are one of the automation aspects which were revealed in last years of twentieth century. These machines assume the responsibility of human and gradually expand the domain of their activities in industry. This paper is a presentation of the Sweeper Robot designed in the Robotic Laboratory of Iran University of Science and Technology. The original design of this ro...

This paper presents an integrated task planning and control approach for manipulating a nonholonomic cart by mobile manipulators. The task considered in this study is to manipulate a nonholonomic cart to perform certain tasks such as pushing the cart along a straight line, making a turn at a corner, or tracking a sine wave. The cart manipulation task fully integrates the motion and force planni...

An omnidirectional mobile manipulator, due to its large-scale mobility and dexterous manipulability, has attracted lots of attention in the last decades. However, modeling and control of such systems are very challenging because of their complicated mechanism. In this article, an unified dynamic model is developed by Lagrange Formalism. In terms of the proposed model, an adaptive integrated tra...

In this work, a computational algorithm is developed for the smooth‐jerk optimal path planning of tricycle wheeled mobile manipulators in an obstructed environment. Due to a centred orientable wheel, the tricycle mobile manipulator exhibits more steerability and manoeuvrability over traditional mobile manipulators, especially in the presence of environmental obst...

This paper solves the problem of high-precision and flexible positioning mobile manipulators. The target ball tool is designed to be installed on manipulator calibrated. Then use binocular vision locate realize manipulator. experimental measurement accuracy better than other methods. method designing adopting has high precision low cost.