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...

This paper presents multi-mode vibration control and analysis of moving platform position errors of a planar 3-PRR parallel manipulator with three flexible intermediate links using PZT transducers. The active vibration controller is designed in modal space with modal filters and modal synthesizers determined from the flexible link vibration characteristics. Estimation of the moving platform pos...

In this paper, an eecient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on eecient O(N) algorithms, where N is the number of links in the manipulator, and has been extended to include the eeects of a mobile base (the URV body). In addition, the various hydrodynamic forces exerted on these systems in underwater ...

This paper describes a mobile manipulator that uses its wheels for manipulation as well as locomotion. This robot, named the mobipulator, looks like a small car with four independently powered wheels, none of them steered. It is designed to manipulate paper and other objects on the surface of a desk. The wheels are used for locomotion or for manipulation, switching functions dynamically as the ...

International Journal of Robotics Research, v 19, n 11, p. 1066-1074 Mobile manipulator systems hold promise in many industrial and service applications including assembly, inspection, and work in hazardous environments. The integration of a manipulator and a mobile robot base places special demands on the vehicle’s drive system. For smooth accurate motion and coordination with an on-board mani...

Vibration is one of the most important resources of error in motion of tip of flexible robot manipulators. Although much work has been done in the design of controllers for flexible manipulators to follow a specified tip trajectory, it has been done a little work in trajectory planning itself. For redundant robot manipulators, trajectory planning can be accomplished with the aim of optimizing s...

For free motions, vibration suppression of flexible manipulators has been one of the hottest research topics. However, for constrained motions, a little effort has been devoted for vibration suppression control. Using the dependency of elastic deflections of links on contact force under static conditions, vibrations for constrained planar two-link flexible manipulators have been suppressed succ...

Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a methodology for computing actuator commands for such systems that allow them to follow desired end-effector and platform trajectories without violating the nonholonomic constraints. Based on a reduction of the system dynamics, a model...

In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...