This paper analyses the reasons for resulting in the instability of mobile manipulator. Several methods of stability analysis and errors compensation are introduced, including the theories, the modeling processes and their characteristics. The significance of analysing the stability and compensating the errors are expounded. In addition, the corresponding applications are also discussed. Finall...

In this paper a gain scheduling approach is proposed for the hybrid force/velocity control of an industrial manipulator employed for the contour tracking of objects of unknown shape. The methodology allows to cope with the configuration dependent dynamics of the manipulator during a constrained motion and therefore a significant improvement of the performance results. Experimental results obtai...

In this paper we describe mechanical and electronic design of a precision, 2-DOF robot manipulator. The manipulator is one of a wide variety of modular robotic agents in the minifactory, a rapidly depoyable precision assembly system under development in our laboratory. The manipulator, in cooperation with another type of 2-DOF robot, termed a courier, can perform 4-DOF assembly operations emula...

ABSTRACT Two recently developed motion control algorithms for mobile manipulators are applied to an experimental system. The manipulator motions induce significant dynamic interactions with its vehicle and suspension. A conventional fixed-base controller, which typically neglects these dynamic interactions, is shown to lead to poor performance. Both mobile manipulator control algorithms, howeve...

The In this paper a novel hybrid evolutionary algorithm (HEA) method is used to find optimal feedback gains for inverse dynamics controllers. It is shown that HEA efficiently finds the optimal feedback gains to improve the performances of inverse dynamics controllers for end-effector tracking control in highly complex, nonlinear, multi-arm manipulator systems. The feedback gain tuning is studie...

In this study, tabletop object manipulation in a cluttered environment using a robotic manipulator is considered. Our focus is on avoiding or manipulating other obstructions/objects to achive the given task. We propose an affordable robotic manipulator design with five degrees of freedom where the gripper constitutes one additional degree of freedom. The manipulator has approximately the same l...

One of the most important parameters to consider when designing a manipulator is the number of degrees-of-freedom (DOFs). This article focuses on the question: How many DOFs are necessary and sufficient for fault tolerance and how should these DOFs be distributed along the length of the manipulator? A manipulator is fault tolerant if it can complete its task even when one of its joints fails an...

In this paper, the dynamic controller design problem of a redundant planar 2-dof parallel manipulator is studied. Using the Euler-Lagrange equation, we formulate the dynamic model of the parallel manipulator in the joint space and propose an augmented PD controller with forward dynamic compensation for the parallel manipulator. By formulating the controller in the joint space, we eliminate the ...

We consider manipulation problems when the manipulator only has partial information about the votes of the nonmanipulators. Such partial information is described by an information set, which is the set of profiles of the nonmanipulators that are indistinguishable to the manipulator. Given such an information set, a dominating manipulation is a non-truthful vote that the manipulator can cast whi...

This paper provides a theoretical framework for controlling a manipulator with hyper degrees of freedom (HDOF). An HDOF manipulator has the capability to achieve various kinds of tasks. To make full use of its capability, shape control is proposed here; that is, not only the tip of a manipulator, but also its whole body is controlled. To formulate control objectives for shape control, we define...