Abstract. Several robotic system applications require manipulators to carry heavy payloads while operating from moving vehicles. These manipulators are mounted on moving/compliant bases, introducing additional degrees of freedom that are not actuated, increasing the complexity of the dynamic modeling and control. In this paper, a control strategy to improve the performance of mobile robotic man...

A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary manipulator, such as a larger work space than a stationary manipulator could have in practice. This paper shows a systematic approach to modeling mobile manipulators that transforms the p...

Research in Polar Regions is a complex task due to the extremely harsh environment. Mobile robots and robotic manipulators can aid research in these regions by performing tasks with automated precision, reducing the need for human involvement. Because most projects in these regions are labor-intensive, expensive in terms of time and cost, and possibly dangerous, autonomously performing such tas...

In this paper, we examine the development of a decentralized control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially-driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar, revolute-jointed arm mounted in the plane...

This paper addresses the problem of reactive behaviours of mobile manipulators evolving in dynamic and unknown environments. The Deformable Virtual Zone (DVZ) method is proposed to resolve the problem through the reflex action theory. The formulation of the DVZ principle is given and the extension to mobile manipulators is detailed. This approach allows to implement fast control laws and can be...

Tipover issue is an important problem in autonomous mobile manipulators. This issue is becoming more important in new generation of mobile robots where their size and weight are reduced, and they are designed to work on uneven terrains with higher speeds. Estimating the distance from the tipover stability margin would enhance the capability of the mobile manipulators in correcting their motion....

This paper presents dynamic analysis studies of planar parallel flexible 3-RRR manipulator with and without considering the flexibility of mobile platform. Initially, by treating all the members of the manipulator as flexible, the joint displacements, reaction forces and stresses are obtained during a specified trajectory tracking in Cartesian space. A comparative study is conducted with manipu...

Robotics solutions properly sized with suitable modularized structure and well adapted to local conditions of dangerous unstructured areas can greatly improve the safety of personnel as well as the work efficiency, productivity and flexibility. In this sense, mobile systems equipped with manipulators for detecting and locating antipersonnel landmines are considered of most importance towards au...

Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...