In the realm of Industry 4.0, diverse technologies such as AI, Cyber-Physical Systems, IoT, and advanced sensors converge to shape smarter future factories. Mobile manipulators (MMs) are pivotal, fostering flexibility, adaptability, collaboration in industrial processes. On one hand, MMs offer a remarkable level processes, facilitating swift production line changes efficiency enhancements. othe...

A Space Free-Flying Robot (SFFR) includes an actuated base equipped with one or more manipulators to perform on-orbit missions. Distinct from fixed-based manipulators, the spacecraft (base) of a SFFR responds to dynamic reaction forces due to manipulator motions. In order to control such a system, it is essential to consider the dynamic coupling between the manipulators and the base. Explicit d...

Dear Editor, Quadratic programming problems (QPs) receive a lot of attention in various fields science computing and engineering applications, such as manipulator control [1]. Recursive neural network (RNN) is considered to be powerful QPs solver due its parallel processing capability feasibility hardware implementation [2]. In particular, large number RNN models, gradient network, are proposed...

In this work, a new approach is proposed to control the manipulators for Humanoid robot. The kinematics of the manipulators in terms of joint positions, velocity, acceleration and torque of each joint is computed using the Denavit Hardenberg (D-H) notations. These variables are used to design the manipulator control system, which has been proposed in this work. In view of supporting the develop...

This paper presents the first motion planning methodology applicable to articulated, non-point nonholonomic robots with guaranteed collision avoidance and convergence properties. It is based on a new class of nonsmooth Lyapunov functions (DILFs) and a novel extension of the navigation function method to account for non-point articulated robots. The Dipolar Inverse Lyapunov Functions introduced ...