In this paper, the stability and stabilization of a neutral system with time-delay are treated. First, the flexible manipulator is modeled as a neutral time-delay system form. Then, based on the Lyapunov-Krasovskii functional theory, a delay dependant condition is proposed to test studied system stability, which is applied to a flexible manipulator model. The test shows that this flexible manip...

A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator is established in consi...

This paper presents an investigation into the dynamic modelling and characterisation of a two-link flexible robot manipulator incorporating a payload. A planar two-link flexible manipulator incorporating structural damping, hub inertia and payload that moves in the horizontal plane is considered. A dynamic model of the system is developed using a combined Euler-Lagrange and assumed mode methods...

A flexible-joint robot manipulator is a complex system because it is nonlinear, multivariable, highly coupled along with joint flexibility and uncertainty. To overcome flexibility, several methods have been proposed based on flexible model. This paper presents a novel method for controlling flexible-joint robot manipulators. A novel control law is presented by compensating flexibility to form a...

In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction, and service environments. Our mobile manipulator RISCbot, is comprised of a manipulator arm mounted on a motorized mobile base wheelchair. The work presented in this chapter explores the use of multi-s...

This paper describes our efforts preparing a mobile manipulator for the 2011 AAAI Small Scale Manipulation Challenge. We describe our approach to building a lowcost mobile manipulator for human-scale environments using ROS and off-the-shelf sensory and servos.

Mobile manipulators have been given extensive attention in recent years since they have many applications such as materials transport and service for disabled persons. A mobile modular manipulator is normally composed of an m-wheeled mobile platform and an n-degree-of-freedom (DOF) onboard modular manipulator. This combination extends the workspace of the entire robot dramatically. Building up ...

In the paper we present new control algorithms for a special class of mobile manipulators, namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic system composed of a mobile platform and a manipulator mounted on the platform equipped with non-deformable wheels. Such a combined system is able to perform manipulation tasks in a much larger workspace than a fixed...

In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that ar...

Quick, precise control of a flexible manipulator in a space environment is essential for future Space Station repair and satellite servicing. Numerous control algorithms have proven successful in controlling rigid manipulators with colocated sensors and actuators; however, few have been tested on a flexible manipulator with noncolocated sensors and actuators. In this thesis, a model reference a...