this paper presents optimal control method to path planning of mobile robots with flexible joints. dynamic equations are derived and additional kinematic constraints are used to solve the extra dofs arose from base mobility. then with modeling the elasticity at each joint as a linear torsinal spring, the set of equations are formed. the hamiltonian function is formed and the necessary condition...

a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

For improving the reliability and efficiency of the kineto-static analysis of complex robot systems, the corresponding vector bond graph procedure is proposed. By the kinematic constraint condition, the vector bond graph model of universal joint are made. Based on this, the vector bond model of 3-RRRT parallel Manipulator is built. For solving the algebraic difficulties brought by differential ...

Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated p...

This paper studies the transient and steady performance constraints on flexible joint manipulator system with exogenous disturbance, proposes a fixed-time prescribe tracking control method based singular perturbation model. For fast subsystem, subcontroller superior is proposed that guarantees suppression of vibration in fixed-time. The remaining slow subsystem can be linked rigid methods to ac...

In this paper, a singularity-robust inverse kinematics is newly suggested by using a Lagrange multiplier for redundant manipulator systems. Two tasks are considered with priority orders under the assumption that a primary task has no singularity. First, an inverse kinematics problem is formulated to be an optimization one subject to an equality constraint, in other words, to be a minimization p...

In order to increase the efficiency of wheeled mobile manipulators (WMM), it is preferred to carry the maximum payload, but in the case of a small-sized platform, which is desirable in applications, it may cause dangerous tip over, especially in the presence of obstacles. So, it is necessary to consider stability constraint in the determination of robot motion planning. This paper presents a no...