In recent years, the progress in the development of parallel manipulators has been accelerated since parallel manipulators possess many advantages over their serial counterparts in terms of high accuracy, velocity, stiffness, and payload capacity, therefore allowing their wide range of applications as industrial robots, flight simulators, parallel machine tools, and micro-manipulators, etc. Gen...

Many useful tasks require both mobility and manipulation — one or more mobile robots must move to a given location and perform some task with an object there. Our research has focused on mobile robots with nonprehensile (i.e., nongrasping) manipulators. Such manipulators are mechanically simpler than their prehensile counterparts and have the additional advantage of being able to manipulate a w...

This paper presents a computational technique for determining the maximum allowable load of wheeled mobile manipulators for a desired trajectory. Full load motion of mobile manipulators while carrying a load is an important consideration in their application and motion planning. The number of factors limits the maximum allowable loads, which can be achieved by a mobile manipulator during a give...

We propose a generic scheme to solve the kinematic control problem of wheeled mobile manipulators when the operational motion is imposed. We generalize the Additional Task Method to solve the control problem of these redundant nonholonomic systems.