This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

S. Ali A. Moosavian and A. Pourreza 2 Advanced Robotics & Automated Systems (ARAS) Laboratory Department of Mechanical Engineering, K. N. Toosi Univ. of Technology Tehran, Iran, P.O. Box 19395-1999, Fax: (+98) 21 8867-4748 Corresponding Author E-mail: [email protected] Abstract In this study, kinematics and dynamics of a compounded serial-parallel wheeled mobile robot is elaborated. The newl...

A mobile manipulator is a manipulator mounted on a mobile platform with no support from the ground. We are already in the process of building a platform (RISCbot II) which consists of a comprehensive sensor suite and significant end-effector capabilities for manipulation. In order to reduce the uncertainty in localization, sensor fusion is used to create an efficient and effective user interfac...

This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...

Research for ezecuting large-scale motions of mobile manipulators is described. Mobile manipulator" are mobile bases with an attached arm which function in an integrated manner. Motivation i, given for moving the arm while the base i, moving. Thi, work applies reactive control concept, to achieve this type of motion. Tools for modeling Integrated arm-vehicle kinematics' and dynamics are di,cuss...

Several articles have been published about the SNU 3-UPU parallel robot, since the prototype built at the Seoul National University (SNU) showed a rather unexpected behavior, being completely mobile although none of the prismatic joints was actuated. The main goal of this work is to describe all possible poses of the robot by a system of algebraic equations using Study parameters, such that the...

Abstrac-This paper describes the Dual-Use Mobile Detachable Manipulator, (DM)’, which is a mobile manipulator designed to operate in a lunar station scenario. (DM)* is designed to perform two very different kinds of tasks: exploration on the lunar terrain, and maintenance work in lunar manufacturing plants. Both tasks are essential during the early construction of a lunar station. In order to b...