Stable Delayed Bilateral Teleoperation of Mobile Manipulators
Sign Up to like & getrecommendations! Published in 2017 at "Asian Journal of Control"
DOI: 10.1002/asjc.1461
Abstract: This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is the teleoperation of the end… read more here.
Keywords: teleoperation mobile; stable delayed; delayed bilateral; teleoperation ... See more keywords
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
Stochastic Search Methods for Mobile Manipulators
Sign Up to like & getrecommendations! Published in 2018 at "Procedia Manufacturing"
DOI: 10.1016/j.promfg.2018.10.106
Abstract: Abstract Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios… read more here.
Keywords: stochastic search; search; search methods; methods mobile ... See more keywords
Multi-Trajectory Approach for a Generic Coordination Paradigm of Wheeled Mobile Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3143894
Abstract: This letter presents a generic coordination approach for the control of mobile manipulators. It is based on an external coupled coordination and exploits a multi-trajectory following approach. A coordination stage provides optimal offsets with respect… read more here.
Keywords: generic coordination; mobile manipulators; trajectory approach; coordination ... See more keywords
A Hybrid Learning and Optimization Framework to Achieve Physically Interactive Tasks With Mobile Manipulators
Sign Up to like & getrecommendations! Published in 2022 at "IEEE Robotics and Automation Letters"
DOI: 10.1109/lra.2022.3187258
Abstract: This letter proposes a hybrid learning and optimization framework for mobile manipulators for complex and physically interactive tasks. The framework exploits an admittance-type physical interface to obtain intuitive and simplified human demonstrations and Gaussian Mixture… read more here.
Keywords: mobile manipulators; learning optimization; physically interactive; framework ... See more keywords
An HQP-Based Obstacle Avoidance Control Scheme for Redundant Mobile Manipulators Under Multiple Constraints
Sign Up to like & getrecommendations! Published in 2023 at "IEEE Transactions on Industrial Electronics"
DOI: 10.1109/tie.2022.3196390
Abstract: It is a challenging problem for redundant wheeled mobile manipulators to satisfy multiple physical constraints and avoid obstacles while performing certain tasks, not to mention constraining tracking performance. In this article, a control scheme based… read more here.
Keywords: mobile manipulators; control; avoidance; obstacle avoidance ... See more keywords
General Dynamic Model for Skid-Steer Mobile Manipulators With Wheel–Ground Interactions
Sign Up to like & getrecommendations! Published in 2017 at "IEEE/ASME Transactions on Mechatronics"
DOI: 10.1109/tmech.2016.2601308
Abstract: The design of motion controllers that could reduce terrain disturbances propagated to the arm and optimize the trajectories of skid-steer mobile manipulators (SSMMs) working in agricultural, construction, or mining environments requires accurate physical models capable… read more here.
Keywords: ground; skid steer; mobile manipulators; wheel ground ... See more keywords
A Review on the Prospects of Mobile Manipulators for Smart Maintenance of Railway Track
Sign Up to like & getrecommendations! Published in 2023 at "Applied Sciences"
DOI: 10.3390/app13116484
Abstract: Inspection and repair interventions play vital roles in the asset management of railways. Autonomous mobile manipulators possess considerable potential to replace humans in many hazardous railway track maintenance tasks with high efficiency. This paper investigates… read more here.
Keywords: maintenance; mobile manipulators; inspection repair; railway track ... See more keywords