Optimal load of mobile robots, while carrying a load with predefined motion precision is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given end-effector trajectory are take...

In this article, an experimental calibration of the constraining linkage of a wire-actuated parallel robot is discussed. The experimental test bed includes a prototyped 4 degrees of freedom wire-actuated parallel manipulator and an optical tracking system. The parallel manipulator employs hybrid actuation ofjoints and wires and includes a rigid branch to constrain the motion of its mobile platf...

This technical note deals with the way of organizing the work of a manipulator on a mobile robot. Every robotic mission is composed of several navigation and manipulation operations. In this research, the robot arm actions have been sequenced, once the mobile robot has stopped, with the help of the graphical specification tool Grafcet. The proposed method has been successfully implemented in th...

This work presents the development of mathematical model of a mobile manipulator and its use to develop a controller based on backstepping nonlinear control and the computed torque control law. This MIMO nonlinear controller was implemented on the Robot Operating System (ROS) environment. The mobile robot is based on the Barrett WAM (Whole Arm Manipulator) and a custom build mobile platform. Th...

This paper presents a new platform with a team of lab-scale networked mobile robotic manipulators (SumoMote) which merges a mobile manipulator with wireless mobile sensor networks. Many existing platforms built for mobile manipulation are big and expensive. Our SumoMote is built small and inexpensive for applications where quantity is more important than size. The hardware and software of the S...

A solutaon to the trajectory trackang problem for mobale manapulators as proposed that allows for the base to be anfluenced by a reactwe, obstacle avoadance behavaor. Gwen a trajectory for the grapper to follow, a trackang algorathm for the manapulator as desagned, and at the same tame the base motaons are generated an such a way that the base as coordznated wath the grapper. Furthermore, at as...

We are currently researching the possibilities that the behaviour-based paradigm has to offer when it comes to mobile manipulation. In this context, a M.Sc. project was done, in which students have implemented a demo application on our mobile manipulator, namely the opening of a door. It does not matter whether the door swings to the right or to the left, nor whether it opens inwards or outward...

This paper presents the utilization of inertial effect in damping-based posture control of a mobile manipulator. As a measure for redundancy resolution of a mobile manipulator, an effective inertia at the end effector in the operational space is proposed and investigated. By changing the effective inertia property via null-motion, we can get the reduced inertial property of the mobile manipulat...

SUMMARY The dynamic modeling and trajectory following issues are addressed for mobile modular manipulators. Simulations are performed to validate the proposed algorithms. I. INTRODUCTION Usually, modular manipulators are mounted on a fixed base whose mobility is constrained. We attach a mobile platform to the bottom of the manipulator to increase workspace. In related research work, dynamic cha...

This paper investigates how to track a desired trajectory by a mobile manipulator that has redundant degrees of freedom (DOFs). Our approach is based on the analysis of its position and orientation. In the first part of the analysis, the manipulator contributes sub-vectors projected on the Z axis in the world frame, including position and orientation. In the second part, the mobile base and the...