A human-mobile manipulator cooperation module is designed to support a target task consisting of the transportation of a rigid object betw een a mobile manipulator and a master human worker. Our approach in troduces an in ten tionrecognition capability in the robot, based on the search for spectral patterns in the force signal measured at the arm gripper. The mobile manipulator takes advan tage...

Abstract: A redundant mobile manipulator composed of a 3-wheeled nonholonomic mobile platform and a N-degrees of freedom (DOF) onboard manipulator is investigated in this paper. Redundancy for such a robot is exploited to avoid tipover via online adjusting self-motions. The dynamic model is established and a new tipover criterion is proposed considering inertia, gravity and acceleration. An onl...

Results are presented of an experimental study of a recently developed motion control algorithm for mobile manipulators. First, the dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. Then the mobile manipulator control algorithm, which accounts for dynamic ...

In this paper, we address the problem of coordinated motion control of a manipulator arm embarked on a mobile platform. The mobile manipulator is used in providing assistance for disabled people. In order to perform a given task by using mobile manipulator redundancy, we propose a new manipulability measure that incorporates both arm manipulation capacities and the end-effector imposed task. Th...

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...

An algorithm for the tele-operation of mobile-manipulator systems with a focus of ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-DOF (degrees-of-freedom) joystick is used to control the manipulator’s position and orientation. The second state occur...

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of...

The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures. Mobility of this system makes it possible to reach the position which will give optimal access to the operating field. The path of the end-effector, determined during operation pre-planning, is defined as a curve par...

This paper considers the design of a motion planner that will simultaneously accomplish control and motion planning of a n-link nonholonomic mobile manipulator, wherein, a n-link holonomic manipulator is coupled with a nonholonomic mobile platform, within an obstacle-ridden environment. This planner, derived from the Lyapunov-based control scheme, generates collision-free trajectories from an i...