Abstract. This paper presents a new teleoperation scheme for mobile manipulation systems. A virtual spring connects a master and slave system where local force feedback on the slave system compensates for the dynamics of the mobile manipulator. This scheme is robust in the presence of time delays and disturbances and provides good tele-presence. The slave manipulator is mounted on a mobile base...

This study presents an investigation into dynamic modelling of a flexible single-link manipulator system using differential evolutionary technique (DE) and particle swarm optimization technique (PSO). Details of simulation study, Model Selection, optimization and result analysis are given in this study. The input-output data of the system were first acquired through the simulation study using f...

The energy efficiency of a robotic manipulator is important, particularly when that manipulator is used in conjunction with a mobile robot with limited battery life. In this paper the energy efficiency (in terms of the electrical energy usage) of a spatial three DOF parallel manipulator is compared to a serial manipulator with the same drive motors and a similar workspace. The effects of endeff...

The recent developments in space technology demand various services to uncontrollable satellites, such as refueling and repairing, in order to extend their lifespans. However, there has so far been no research on such practical applications with flexible manipulators. In this paper, we address automated object capture with a two-arm flexible manipulator, which is a basic technology for such ser...

Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated p...

This paper presents a perturbation method for the dynamic simulation of flexible manipulators. In this method the vibrational motion of the manipulator is modeled as a first-order perturbation of the nominal rigid link motion. For that purpose the flexible dynamic model is split into two parts. A rigidified system describes the nominal rigid link motion of the manipulator. A linear system linea...

In most autonomous mobile manipulator systems, the mobile platform is only used for transporting the manipulators between spatially distributed assembly stations. In general, the mobility of the platform can be exploited to enlarge the workspace of a manipulator system (with one or multiple arms) at a single assembly station. In this article various approaches to the cooperation of a mobile pla...

T h e control of a dextrous manipulator mounted o n a flexible structure is discussed. Using the concept of Reaction Null Space, the manipulator dynamics is decoupled f r o m the base dynamics. As a consequence of the decoupling, feedback control gains f o r structural vibration suppression and manipulator end-point control can be determined in a straightforward manner. W e examine experimental...