Robot trajectory tracking has been the core functioning unit in the modern industrial environment wherein the accuracy in the motion control of robotic manipulators is the main area of research. Based on the fact that the working of these automatic robotic machines is highly influenced by the disturbances, this paper constitutes various conventional controllers for the motion control of five ba...

In this paper a Control software Architecture for cooperative multiple unmanned aerial Vehicle-manIpulator Systems (CAVIS) is presented. In particular, Unmanned Aerial Vehicles (UAVs) equipped with a robotic manipulator eventually involved in a cooperative object transportation mission are considered. Such robotic systems involve specific constraints given by the interaction of the degrees of f...

The inverse dynamics problem for a robotic manipulator is to compute the torques needed at the joints to drive it along a given trajectory; it is beneficial to be able to learn this function for adaptive control. A robotic manipulator will often need to be controlled while holding different loads in its end effector, giving rise to a multi-task learning problem. By placing independent Gaussian ...

In this paper, an eecient dynamic simulation algorithm is developed for an underwater robotic vehicle (URV) with a manipulator. It is based on previous work on eecient O(N) algorithms, where N is the number of links in the manipulator, and has been extended to include the eeects of a mobile base (the URV body). In addition, the various hydrodynamic forces exerted on these systems in underwater ...

This paper presents an integrated task planning and control approach for manipulating a nonholonomic cart by mobile manipulators. The task considered in this study is to manipulate a nonholonomic cart to perform certain tasks such as pushing the cart along a straight line, making a turn at a corner, or tracking a sine wave. The cart manipulation task fully integrates the motion and force planni...

In this paper, we address the problem of searching for an object in a 3-D environment. We consider a mobile manipulator with an “eye-in-hand” sensor moving in the 3-D environment. In particular, we consider a static object whose location is modeled with a probability density function (pdf). We generate routes that minimize the expected value of the time until the object is first seen when follo...