System Integration for Real-Time Mobile Manipulation

System Integration for Real-Time Mobile Manipulation

Mobile manipulators are one of the most complicated types of mechatronics systems. The performance of these robots in performing complex manipulation tasks is highly correlated with the synchronization and integration of their low-level components. This paper discusses in detail the mechatronics design of a four wheel steered mobile manipulator. It presents the manipulator’s mechanical structur...

Fuzzy Motion Control for Wheeled Mobile Robots in Real-Time

Due to various advantages of Wheeled Mobile Robots (WMRs), many researchers have focused to solve their challenges. The automatic motion control of such robots is an attractive problem and is one of the issues which should carefully be examined. In the current paper, the trajectory tracking problem of WMRs which are actuated by two independent electrical motors is deliberated. To this end, and ...

Elastic Strips: Real-Time Path Modification for Mobile Manipulation

Systems Integration for Real-World Manipulation Tasks

A system developed to demonstrate integration of a number of key research areas such as localization, recognition, visual tracking, visual servoing and grasping is presented together with the underlying methodology adopted to facilitate the integration. Through sequencing of basic skills, provided by the above mentioned competencies, the system has the potential to carry out flexible grasping f...

Mobile Manipulation - A Challenge in Integration

Mobile manipulation in many respects represents the next generation of robot applications. An important part of design of such systems is the integration of techniques for navigation, recognition, control, and planning to achieve a robust solution. To study this problem three different approaches to mobile manipulation have been designed and implemented. A prototypical application that requires...