In this paper, force/motion tracking control is investigated for nonholonomic mobile manipulators with unknown parameters and disturbances under uncertain holonomic constraints. The nonholonomic mobile manipulator is transformed into a reduced chained form, and then, robust adaptive force/motion control with hybrid variable signals is proposed to compensate for parametric uncertainties and supp...

The stabilization to a desired pose of a nonholonomic mobile robot, based on visual data from a hand-eye system mounted on it, is considered. Instances of this problem occur in practice during docking or parallel parking maneuvers of such vehicles. In this paper, we investigate the use of visual servoing techniques for their control. After brie y presenting the relevant visual servoing framewor...

A planning methodology for nonholonomic mobile platforms with manipulators in the presence of obstacles is developed that employs smooth and continuous functions such as polynomials. The method yields admissible input trajectories that drive both the manipulator and the platform to a desired configuration and is based on mapping the nonholonomic constraint to a space where it can be satisfied t...

First we summarize some properties of the nonholonomic r-jets from the functorial point of view. In particular, we describe the basic properties of our original concept of nonholonomic r-jet category. Then we deduce certain properties of the Weil algebras associated with nonholonomic r-jets. Next we describe an algorithm for finding the nonholonomic r-jet categories. Finally we classify all spe...

In this article we present a feedback control law which gives exponential convergence of a nonholonomic underwater vehicle to a constant desired connguration. This is achieved using a piecewise smooth feedback control law which is based on previous work on the control of nonholonomic mobile robots in the plane. The kinematic model of the underwater vehicle is given in SE(3) by homogeneous trans...

The purpose of this article is to illustrate the role of connections and symmetries in the Wheeled Inverted Pendulum (WIP) mechanism an underactuated system with rolling constraints popularized commercially as the Segway, and thereby arrive at a set of simpler dynamical equations that could serve as the starting point for more complex feedback control designs. The first part of the article view...

Many important problems in multibody dynamics, the dynamics of wheeled vehicles and motion generation, involve nonholonomic mechanics. Many of these systems have symmetry, such as the group of Euclidean motions in the plane or in space and this symmetry plays an important role in the theory. Despite considerable advances on both Hamiltonian and Lagrangian sides of the theory, there remains much...

Humans can easily maneuver some types of nonholonomic systems, e.g. wheeled vehicles, while other types, e.g. space robots, are di cult to handle intuitively. We propose a human interface to simplify the operation of \di cult" nonholonomic systems, which utilizes the human ability to maneuver \easy" systems. The di cult real system is converted into an easy virtual system using coordinate and i...

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...