One of the most important features of the next generation of robots is the mobility and the ability to work in an unstructured environment. Conventional manipulator arms have bounded workspace and are thus appropriate only for some limited tasks. Hence, they need additional devices such as conveyor belts and handling devices in order to perform a task requiring large workspace. A new promising ...

Controlling a chain of tethered mobile robots (TMRs) can be challenging task. This kind system considered kinematically as an open-chain robotic arm where the are revolute joint and tether is variable length link, using prismatic joint. Thus, TMRs problem decoupled into two parallel problems: equivalent manipulator control shape computation. Kinematic redundancy exploited in order to coordinate...

The hybrid joints of manipulators can be switched to either active actuated or passive underactuated mode as needed. Consider the property of hybrid joints, the system switches stochastically between active and passive systems, and the dynamics of the jump system cannot stay on each trajectory errors region of subsystems forever; therefore, it is difficult to determine whether the closed-loop s...

Mobile manipulator systems, comprised of a mobile platform with one or more manipulators, are of great interest in a number of applications. This paper presents a methodology for computing actuator commands for such systems that allow them to follow desired end-effector and platform trajectories without violating the nonholonomic constraints. Based on a reduction of the system dynamics, a model...

The design, dynamic modelling, and workspace are presented in this paper concerning cooperative cable parallel manipulators for multiple mobile cranes (CPMMCs). The CPMMCs can handle complex tasks that are more difficult or even impossible for a single mobile crane. Kinematics and dynamics of the CPMMCs are studied on the basis of geometric methodology and dʹAlembert’s pr...

This paper describes an experimental study of a novel methodology for the positioning of a multi‐ articulated wheeled mobile manipulator with 12 degrees of freedom used for handling tasks with explosive devices. The approach is based on an extension of a homogenous transformation graph (HTG), which is adapted to be used in the kinematic modelling of manipulat...

Results are presented of an experimental study of a recently developed motion control algorithm for mobile manipulators. First, the dynamic interactions between a mobile manipulator and its vehicle are shown to lead to poor performance when a conventional fixed-base controller, which neglects these interactions, is used. Then the mobile manipulator control algorithm, which accounts for dynamic ...

Task and Motion Planning for Mobile Manipulators by Ioan Alexandru Şucan This thesis introduces new concepts and algorithms that can be used to solve the simultaneous task and motion planning (STAMP) problem. Given a set of actions a robot could perform, the STAMP problem asks for a sequence of actions that takes the robot to its goal and for motion plans that correspond to the actions in that ...