Workspace analysis is one of the most important issues in the robotic parallel manipulator design. ‎However, ‎the unidirectional constraint imposed by cables causes this analysis more challenging in the cabledriven redundant parallel manipulators. Controllable workspace is one of the general workspace in the cabledriven redundant parallel manipulators due to the dependency on geometry parameter...

This paper studies the tracking control problem of mobile manipulators with consideration of the interaction between the mobile platform and the manipulator. A global tracking controller is proposed based on the dynamics of the defined tracking error and the extended Barbalat 's lemma. The proposed controller ensures that the full state of the system asymptotically track the given desired traje...

In this paper a flexible software framework is presented, that allows for the easy configuration, modeling, simulation, and collision avoidance for the manipulators of a service robot. The configuration of the robot including the number of manipulators, their degrees of freedom, the corresponding Denavit-Hartenberg parameters, geometry, fieldbus parameters etc. can be specified easily in xml co...

A Mobile manipulator consists of a mobile platform carrying a standard robotic arm. Such robotic system merges the dexterity of the manipulator with the increased workspace capabilities of the mobile platform and thus is particularly suited for field and service robotic applications which require both locomotion and manipulation abilities. A number of papers have been presented to address the i...

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque requir...

This article presents a standardized human–robot teleoperation interface (HRTI) evaluation scheme for mobile manipulators. Teleoperation remains the predominant control type manipulators in open environments, particularly quadruped However, manipulators, especially are relatively novel systems to be implemented industry compared traditional machinery. Consequently, no method has been establishe...

In this paper, dynamics, postural stability and control of suspended wheeled mobile manipulators for cooperative heavy object manipulation are elaborated considering the effect of grasping posture. The presented model considers a system equipped with multiple manipulators with flexible suspension, which also contains an accurate nonlinear behavior of the tires. Moreover, it includes the vibrato...