Parallel manipulators are well known for their superior stiffness, higher accuracy, lower inertia and faster response compared to the serial counterparts and hence is widely used for high-speed machining and heavy load applications. However, controller limitations as well as design constraints can result in un-optimized designs causing unsettling residual vibrations at the end effector and limi...

Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot,...

This paper solves the problem of high-precision and flexible positioning mobile manipulators. The target ball tool is designed to be installed on manipulator calibrated. Then use binocular vision locate realize manipulator. experimental measurement accuracy better than other methods. method designing adopting has high precision low cost.

We have proposed a simple method Jor carrying a large proposed an algorithm for an optimal force distribution to object by cooperation of multiple mobile manipulators with position controllers. Manipulators on mobile pla~orms are used as free joint mechanisms by locking some joints and making the rest joints free. These free joints plq the role of mechanical compliance in order to avoid excessi...

The efficient utilization of the motion capabilities of mobile manipulators, Le., manipulators mounted on mobile platforms, requires the resolution of the kinematically redundant system formed by the addition of the degrees of freedom (d.0.f.) of the platform to those of the manipulator. At the velocity level, the linearized Jacobian equation for such a redundant system represents an underspeci...

Mobile manipulators are extensively used in various applications. Most of the mobile built on a wheeled platform. A platform performs well flat terrains but is not suitable for navigation rough terrains. The legged robots commonly terrain However, speed lesser than robots. This paper focuses development hybrid wheellegged to overcome above difficulties. proposed model quadruped with five degree...

A general mobile modular manipulator can be defined as a m-wheeled holonomic/nonholonomic mobile platform combining with a n-degree of freedom modular manipulator. This paper presents a sliding mode adaptive neural-network controller for trajectory following of nonholonomic mobile modular manipulators in task space. Dynamic model for the entire mobile modular manipulator is established in consi...

In the last several years, mobile manipulators have been increasingly utilized and developed from a theoretical viewpoint as well as for practical applications in space, underwater, construction, and service environments. Our mobile manipulator RISCbot, is comprised of a manipulator arm mounted on a motorized mobile base wheelchair. The work presented in this chapter explores the use of multi-s...

This paper presents a hybrid system framework which considers simultaneously the control and decision-making issues. This reconfigurable framework can accommodate a wide range of situations, from aircraft control systems to mobile manipulators. A continuous-state plant is supervised by a discrete-event system which is based on a theory of linked finite state machines. The composite system is vi...