This paper presents a computational technique for determining the maximum allowable load of wheeled mobile manipulators for a desired trajectory. Full load motion of mobile manipulators while carrying a load is an important consideration in their application and motion planning. The number of factors limits the maximum allowable loads, which can be achieved by a mobile manipulator during a give...

This paper provides a method for a controllable nonholonomic mechanical system. By use of the nonholonomy of the disk’s rolling constraint in the plane and the condition of chained form conversion, a multi-joint nonholonomic manipulator, which uses only two actuators and can be converted into chained form and achieves control simplicity, is presented. The Frobenius and Chow theorems prove that ...

Constrained motion and redundant degrees of freedom control exist in a multi-manipulator collaboration system. In other words, the technology must solve problems uncertain environment interaction coordinated control. Few studies have been conducted on coordination multi-manipulator, effect is not good. To problem cooperative system, this study divides into two forms, namely coupled superimposed...

Manipulating the Space Station Remote Manipulator (SSRMS), known as “Canadarm II”, on the International Space Station (ISS) is a very challenging task. The astronaut does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, we present Roman Tutor, an intelligent robotic s...

Manipulating the Space Station Remote Manipulator (SSRMS) on the International Space Station (ISS) is a very challenging task. The operator does not have a direct view of the scene of operation and must rely on cameras mounted on the manipulator and at strategic places of the environment where it operates. In this paper, we describe how a new approach for robot path planning called FADPRM can b...

A path tracking control method for a kinematically redundant manipulator on a flexible base is proposed. The method is based on dynamic redundancy resolution through a vibration suppression constraint. It is shown that the end-effector path can pass via an algorithmic singularity without destabilizing the system. Simulation data from a planar system is presented, confirming that stable path tra...

In a future intelligent factory, a robotic manipulator must work efficiently and safely in a Human-Robot collaborative and dynamic unstructured environment. Autonomous path planning is the most important issue which must be resolved first in the process of improving robotic manipulator intelligence. Among the path-planning methods, the Rapidly Exploring Random Tree (RRT) algorithm based on rand...

The optimizing design for enhancement of the micro performance of manipulator based on analytical models is investigated in this paper. By utilizing the established uncanonical linear homogeneous equations, the quasi-static analytical model of the micro-manipulator is built, and the theoretical calculation results are tested by FEA simulations. To provide a theoretical basis for a micro-manipul...

A planning methodology for nonholonomic mobile manipulators in the presence of obstacles is developed. The method employs smooth and continuous functions, such as polynomials, and it is very fast, easy to use and computationally inexpensive. The core of the method is based on mapping the nonholonomic constraint to a space where it can be satisfied trivially. In this paper, the method is first e...

Singularity is an inherent characteristic of a closed-chain manipulator. This paper presents an approach to singularity analysis of the planar 3-RRR parallel manipulator. On the basis of screw theory, the motion/force transmission analysis of the manipulator is first achieved. The singularity is classified into three types: constraint singularity, input transmission singularity, and output tran...