This paper presents the method of trajectory planning for mobile manipulators considering limitations resulting from capabilities robotic system actuators. The fulfillment control constraints is achieved by introducing virtual scaling robot in limited periods time. Such an approach allows researchers to obtain trajectories fulfilling without significantly increasing time task execution. propose...

The stability of holonomic mobile manipulator can be improved effectively based on the stability twist constraint (STC). However, nonholonomic mobile manipulators are much more popular. In this paper, the stability of a nonholonomic mobile manipulator is improved with STC consideration. However, the constraint of nonholonomic mobility will affect the orientation of mobile base. Numerical simula...

This paper presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton-Euler formulation and uses twists wrenches, which are propagated through high-level algebraic operations works for any type joints arbitrary parameterizations. second approach Gauss's Principle Least Constraint (GPLC) inc...

This paper provides an overview of a new manipulation system developed for sampling and instrument placement from small autonomous mobile robots for Mars exploration. Selected out of the design space, two manipulators have been constructed and integrated into the Rocky 7 Mars rover prototype. This paper describes the design objectives and constraints for these manipulators, and presents the fin...