This paper represents the technique of developing a ROS (Robot Operating System) based low cost mobile manipulator. Additionally, the contemporary commercial and custom ROSbased mobile manipulators have been discussed. In this paper, we have discussed how the performance of the high-end mobile manipulation platforms can be partially achieved by a low-cost custom made module implementing the bas...

Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modelling errors and the practical limitations imposed by the sensory in...

Mobile systems become more and more important in the area of modern manufacturing. In order to handle an object with a manipulator mounted on an autonomous mobile system (AMS) within a changing environment, the object has to be identiied and its 3D pose relative to the manipulator has to be determined with suucient accuracy, because in general its exact position is not known a priori. The objec...

The development of a robot requires that it be able to adopt as many configurations as possible using limited modules, so as to allow the construction of new types of robots without redesign and remanufacturing. Traditionally, modular manipulators are mounted on a fixed base whose mobility is constrained. However, with the development of industry and technology, such modular manipulators as mou...

The dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when conventional fixed-base controllers, which neglect these interactions, are used. An extended jacobian transpose control algorithm is developed, which accounts for dynamic vehicle motions caused by manipulator motions. It is shown to perform well, even in the presence of modeling erro...

In this research, we are developing a system for browsing books from remote places through the Internet by means of the teleoperation of a mobile robot. In the process of developing this system, we firstly designed and built a prototype of a mobile robot, specially equipped for the accomplishment of browsing determined books, which is mainly categorized by 3 basic goals: (1) picking up the book...

This paper investigates a calibration method where the manipulator end-effector is constrained to a single contact point using a fixture equivalent to a spherical joint. The required fixture has the advantage of being inexpensive and compact when compared to pose measuring devices required by other calibration techniques, such as theodolites. By forming the manipulator into a mobile closed kine...

Two robust Neuro-Fuzzy feedback controllers for autonomous and intelligent electrically driven mobile manipulator in dynamic and partially known environments containing moving obstacles are presented. The first one is used to generate the commands for the servo-systems of robot arm so that, locally, it may choose its way to its goal autonomously. And the second controller is implemented in mobi...

This paper describes a multi-agent architecture for telerobotics of mobile robot manipulators. The architecture consists of three agents: Supervisory Agent, Mobile Robot Agent and Manipulator Robot Agent. The Supervisory Agent is composed of one Piloting Layer. The two other agents are composed, each one, of two layers (Piloting Layer and Operative Layer). The Piloting Layers are installed on a...

In this thesis, the class of parallel manipulators with six kinematic chains of type PRRS is analyzed. In this class, six linear actuators attached to the base control the six degrees of freedom of the mobile platform of the parallel manipulator. Six legs of constant length connect the mobile platform to the linear actuators through respectively spherical and universal