In this article, we present multi-agent based system generic model architecture for distributed control. This model is dedicated to pilot mobile manipulator robots. The choice of the suggested approach is justified by the generic character of the proposed agent model and on the other hand, by the possibility of integrating the whole in a distributed robotic system (example: CDTA's flexible manu...

In this paper new method for vibration control of Flexible Base Mobile Manipulator (FBMM) under constrained motion control were proposed. When robotic manipulator with base flexibility contacts environment under impedance control, vibration occurs at transient and contact moments. Vibration causes position and force inaccuracy, instability and servicing requirements of equipment. Previous activ...

joint flexibility is a very important factor to consider in the controller design for robot manipulators if high performance is expected. most of the research works on control of flexible-joint robots in literature have ignored the actuator dynamics to avoid complexity in controller design. the problem of designing nonlinear controller for a class of single-link flexible-joint robot manipulator...

in this paper, finding dynamic load carrying capacity (dlcc) of flexible link manipulators in point to-point motion was formulated as an optimal control problem. the finite element method was employed for modelling and deriving the dynamic equations of the system. the study employed indirect solution of optimal control for system motion planning. due to offline nature of the method, many diffic...

In this paper Open-loop optimal control method is proposed as an approach for trajectory optimization of flexible mobile manipulator for a given two-end-point task in point-to-point motion Dynamic equations are derived using combined Euler–Lagrange formulation and assumed modes method. To solve the optimal control problem an indirect method via establishing the Hamiltonian function and deriving...

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...

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new slid...

this paper evaluates a new and simple controller design method based on qft (quantitative feedback theory) for a two-link manipulator whose first link is rigid and the second is flexible. a piezoelectric patch is attached to the surface of the flexible link for vibration suppression of it. this system is modeled as a nonlinear multi-input multi-output (mimo) control systems whose inputs are two...

1.1 Overview In this book chapter a comparative assessment of modelling and control of mechanical manipulator is considered. First, kinematic and dynamic modelling of wide range of mechanical manipulators comprising flexible link, flexible joint and mobile manipulators are considered. Then, open-loop optimal control problem is formulated to control of the obtained system. Finally, some applicat...

A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a xed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred connguration. In this paper, we study the eeect of the dynamic interaction between the manipulator and the mobile pla...