This paper presents a motion planning method for mobile manipulators for which the base locomotion is less precise than the manipulator control. In such a case, it is advisable to move the base to discrete poses from which the manipulator can be deployed to cover a prescribed trajectory. The proposed method finds base poses that not only cover the trajectory but also meet constraints on a measu...

A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator is established in consi...

In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction, and service environments. Our mobile manipulator RISCbot, is comprised of a manipulator arm mounted on a motorized mobile base wheelchair. The work presented in this chapter explores the use of multi-s...

This paper describes our efforts preparing a mobile manipulator for the 2011 AAAI Small Scale Manipulation Challenge. We describe our approach to building a lowcost mobile manipulator for human-scale environments using ROS and off-the-shelf sensory and servos.

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...

In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that ar...

Mobile manipulation robots are envisioned to provide many useful services both in domestic environments as well as in the industrial context. In this paper, we present novel approaches to allow mobile maniplation systems to autonomously adapt to new or changing situations. The approaches developed in this paper cover the following four topics: (1) learning the robot’s kinematic structure and pr...