Optimal cascaded control of mobile manipulators
Sign Up to like & getrecommendations! Published in 2019 at "Nonlinear Dynamics"
DOI: 10.1007/s11071-019-04860-7
Abstract: In this study, the solution to the kinematically optimal control problem of the mobile manipulators is proposed. Both dynamic equations are assumed to be uncertain, and globally unbounded disturbances are allowed to act on the… read more here.
Keywords: control; mobile manipulator; control mobile; cascaded control ... See more keywords
Learning based end effector tracking control of a mobile manipulator for performing tasks on an uneven terrain
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-019-00081-8
Abstract: A Mobile manipulator (MM) combines the ability to move on an uneven terrain and perform a desired task using the manipulator arm, like drilling, welding, pick and place, etc. However, due to slip, modeling and… read more here.
Keywords: uneven terrain; kinematics; end effector; mobile manipulator ... See more keywords
Optimization-based motion planning of mobile manipulator with high degree of kinematic redundancy
Sign Up to like & getrecommendations! Published in 2019 at "International Journal of Intelligent Robotics and Applications"
DOI: 10.1007/s41315-019-00090-7
Abstract: With the integration of mobility and manipulation, mobile manipulator constructed by mobile platform and manipulator has become a potential solution for the fields of industrial manufacturing and services. One of the key issues in utilizing… read more here.
Keywords: high degree; motion planning; manipulator; mobile manipulator ... See more keywords
Dragging motion of a two-link mobile manipulator with large pull force through singular configuration: theoretical analysis and experimental verification
Sign Up to like & getrecommendations! Published in 2018 at "Advanced Robotics"
DOI: 10.1080/01691864.2018.1476180
Abstract: ABSTRACT This paper reveals the advantageous feature of singular configuration for a two-link mobile manipulator by theoretical analysis, numerical simulations and experiments. When a mobile manipulator drags a heavy object on a flat floor, a… read more here.
Keywords: singular configuration; manipulator; force; mobile manipulator ... See more keywords
Versatile cleaning service robot based on a mobile manipulator with tool switching for liquids and garbage removal in restrooms
Sign Up to like & getrecommendations! Published in 2022 at "Advanced Robotics"
DOI: 10.1080/01691864.2022.2109430
Abstract: In recent years, the labor shortage has become a significant problem in Japan and other countries due to aging societies. However, service robots can play a decisive role in relieving human workers by performing various… read more here.
Keywords: garbage; restroom; removal; service ... See more keywords
Analytic Solutions for Wheeled Mobile Manipulator Supporting Forces
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Access"
DOI: 10.1109/access.2022.3169766
Abstract: When a mobile manipulator’s wheel loses contact with the ground, the manipulator may overturn, causing material damage, and in the worst case, putting human lives in danger. The overturning stability of wheeled mobile manipulators must… read more here.
Keywords: supporting forces; manipulator; mobile manipulator; overturning stability ... See more keywords
Online Next-Best-View Planner for 3D-Exploration and Inspection With a Mobile Manipulator Robot
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3146558
Abstract: Robotic systems performing end-user oriented autonomous exploration can be deployed in different scenarios which not only require mapping but also simultaneous inspection of regions of interest for the end-user. In this work, we propose a… read more here.
Keywords: manipulator robot; exploration inspection; mobile manipulator; exploration ... See more keywords
Motion Planning of Mobile Manipulator for Navigation Including Door Traversal
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2023.3279612
Abstract: Door traversal is an essential task for a mobile manipulator to achieve autonomous navigation in indoor environment. However, it remains challenging since it requires the coupled motion of the robot and door and is composed… read more here.
Keywords: manipulator; mobile manipulator; door; door traversal ... See more keywords
Prescribed Performance Control for Teleoperation System of Nonholonomic Constrained Mobile Manipulator Without Any Approximation Function
Sign Up to like & getrecommendations! Published in 2024 at "IEEE Transactions on Automation Science and Engineering"
DOI: 10.1109/tase.2023.3271654
Abstract: The teleoperation system of mobile manipulator has been widely applied for space exploration, medical assistance, and other fields. To improve operational efficiency, this paper presents a novel prescribed performance synchronization control scheme without applying any… read more here.
Keywords: system; mobile manipulator; teleoperation system; performance ... See more keywords
Fixed Time Synchronization Control for Bilateral Teleoperation Mobile Manipulator With Nonholonomic Constraint and Time Delay
Sign Up to like & getrecommendations! Published in 2020 at "IEEE Transactions on Circuits and Systems II: Express Briefs"
DOI: 10.1109/tcsii.2020.2990698
Abstract: In this brief, the fixed time synchronization control is investigated for nonholonomic mobile manipulator teleoperation system. The mobile manipulator is divided into two subsystems for analysis, which are nonholonomic mobile platform and holonomic constrained manipulator.… read more here.
Keywords: time; mobile manipulator; manipulator; time synchronization ... See more keywords
Neural Dynamics-Based Model Predictive Control for Mobile Redundant Manipulators With Improved Obstacle Avoidance
Sign Up to like & getrecommendations! Published in 2025 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2024.3429655
Abstract: The trajectory-tracking problem of mobile manipulators is worth investigating because of its widespread appearance in industry and academia. This article proposes a model predictive control (MPC) scheme aimed at controlling a mobile manipulator and enabling… read more here.
Keywords: model predictive; mobile manipulator; predictive control; improved obstacle ... See more keywords