This paper presents a novel force control scheme for redundant mobile manipulators. Based on a decoupled and linearized dynamic model for integrated mobile platform and on-board manipulator, robotic tasks involving both position and output force control are discussed. Take the advantage of the kinematic redundancy of mobile manipulators, explicit force and position control at the same task dire...

So-called robot–object Lagrangian systems consist of a class nonsmooth underactuated complementarity systems, with specific structure: an “object” and “robot”. Only the robot is actuated. The object dynamics can thus be controlled only through action contact Lagrange multipliers, which represent interaction forces between object. Juggling, walking, running, hopping machines, robotic that manipu...

In digital computer based controllers, efficient sampling mechanisms for sensors as well as controllers is of great importance. In this paper, we are interested in designing controllers that result in low average frequency of control updates while simultaneously ensuring stability of the robotic system. We experimentally investigate a non-periodic state-triggered control sampling scheme (design...

In this paper, we focus on a class of robotic manipulators that utilize continuous backbone structures. Such manipulators, known as “continuum” robots, exhibit behavior similar to tentacles, trunks, and snakes. Specifically, we have previously discussed some of the mechanical and kinematic details of the Clemson “Tentacle Manipulator.” This work examines the dynamic characteristics of this mani...

Most challenging aspects in the control of complex parallel mechanisms or robotic manipulators is how to deal with the high system nonlinearity and with the coupled dynamics. These aspects can be satisfied by integrating the pose dependent inertia or mass matrix into the control scheme. To satisfy the requirements of real-time application, this paper presents a high efficient method to compute ...

The underwater environment poses a complex problem for developing control systems manipulators. Modeling the system is complicated and costly process due to highly nonlinear dynamics presence of unknown hydrodynamical effects. Furthermore, manipulators are usually deployed on Autonomous Underwater Vehicles (AUVs) which further influence change arm. This aggravated in operations where manipulati...

Underactuated manipulators are a class of robotic mechanisms where passive joints are present. By controlling only the motion of the active joints, it is possible to control the entire system. Our goal is to develop control schemes using both classical nonlinear and modern learning techniques for underactuated manipulators. To examine the validity of the approaches, we developed an experimental...

Robotic manipulators mounted on vehicles are being considered for a number of applications. Since the dynamic performance of these systems is affected by the flexibility of their manipulators’ and vehicles’ suspensions, analytical methods are required to model their dynamic behavior. This paper presents an effective method that models such a system’s spatial dynamic behavior by considering the ...

A new approach to control an omnidirectional mobile manipulator is developed. The robot is considered to be an individual agent aimed at performing robotic tasks described in terms of a displacement and a force interaction with the environment. A reactive architecture and impedance control are used to ensure reliable task execution in response to environment stimuli. The mechanical structure of...