For a mobile manipulator to be used in areas such as offices and houses, it is desirable that the mobile platform be small sized. In the case of a small-sized platform, the mobile manipulator may tip over when moving at high speed or executing tasks in the presence of disturbances. Therefore, it is necessary to simultaneously consider both stabilization and manipulation while coordinating vehic...

This paper discusses a general formulation both in kinematics and dynamics for under-actuated manipulator systems, represented by a freejoint manipulator, a free-floating manipulator, a flexible-base manipulator and a flexible-arm manipulator. We highlight the fact that a concept, originally developed for a particular system, is applicable to the others as well because the dynamic equations of ...

We consider the kinematics of a mobile manipulator that consists of a non-holonomic (or holonomic) mobile platform and a holonomic manipulator mounted atop of the platform. At any fixed time instant and with fixed initial state of the platform these kinematics are viewed as a map from a Hilbert space of controls and manipulator’s joint positions into a taskspace of the mobile manipulator, and c...

Mobile manipulator performance measurement research is relatively minimal as compared to that of robot arms. Measurement methods, such as optical tracking systems, are useful for measuring the performance of mobile manipulators, although at a much higher relative cost as compared to artifacts. The concept of using test artifacts demonstrates to potential manufacturers and users of mobile manipu...

This paper presents a decentralized control strategy for mobile manipulator systems. First, the whole system of mobile manipulator is divided into two interconnected subsystems: nonholonomic mobile platform subsystem and holonomic manipulator subsystem. Second, a kinematic and dynamic controllers are developed for mobile platform subsystem. The kinematic control provides the desired velocity th...

The Operational Space Formulation creates a framework for the analysis and control of manipulator systems with respect to the behavior of their end-effectors. Its application to aircraft canopy polishing is shown using a mobile manipulator. The mobile manipulator end-effector maintains a desired force normal to the canopy surface of unknown geometry in doing a compliant polishing motion, while,...

Cooperating with heavy forging press, the heavy-duty forging manipulator is used for handling the workpiece during the free-forging process. Therefore, the size accuracy of the forgings is related to the dynamics performance of the forging manipulator. This paper aims to study the dynamic performance of DDS heavy-duty forging manipulator. The kinematics model is firstly built to predict the tra...

This paper presents dynamic modelling of a two-link flexible manipulator system. The kinematic model is based on standard frame transformation matrices describing both rigid rotation and modal displacement, under small deflection assumption. A two-link flexible manipulator incorporating structural damping, hub inertia and payload is considered. An explicit, complete, and accurate nonlinear dyna...

Abstract: The Coordination of the motion planning of the manipulator end point and the mobile base is a crucial task for a mobile robot control. The mobile manipulator is mounted on the mobile platform where the end point of the manipulator is guided to follow an arbitrarily chosen path .The mobile platform may move in such a manner so that the manipulator end may track the arbitrary trajectori...

A power assisted gait rehabilitation robot system by which a patient who has difficulty in walking can exercise is proposed. Our developed system consists of a robotic manipulator which can adjust the height of the system according to the user and a mobile base with two-driving wheels. It is similar to the architecture of a mobile manipulator. The neural network based control algorithm for a mo...