A robust finite-time control law is proposed for mobile manipulators with uncertain both kinematic and dynamic equations. Moreover, the following external disturbances are allowed to act on system: unstructured forces exerted end-effector, slip reaction affecting platform wheels, unknown friction coming from joints directly driven by actuators undesirable caused singular configurations. In orde...

This paper discusses the trajectory following issue for redundant nonholonomic mobile modular manipulators. Dynamic model is established and an adaptive neural-network controller is developed to control the end-effector to follow a desired spacial trajectory. The proposed algorithm doesn’t need any priori dynamics and provides a new solution for stabilization of redundant robotic selfmotions. S...

Conventional fixed-base controllers are shown not to perform well on mobile manipulators due to the dynamic interactions between a manipulator and its vehicle. An extended jacobian transpose control algorithm is developed to improve the performance of such manipulator systems. It is shown to perform well in the presence of modelling errors and the practical limitations imposed by the sensory in...

The nonholonomic motion planning problem is considered for a novel class of modular mobile manipulators, where each module is implemented as a planar parallel manipulator with idler wheels. This assembly is actuated by shape changes of its modules, which, under the in uence of the nonholonomic constraints on the wheels, induce a global snake{like motion of the assembly. The kinematics for a 2{ ...

The objective of this paper is to generate a closed form of the equations of motion for two serially connected manipulators. Instead of computing the coupled dynamics directly, this work constructs overall dynamic equations from previously known equations of each manipulator and coupling terms derived in this paper. This approach will reduce the number of computations significantly and show the...

A set of modular components is presented for use in reconfigurable robotic construction systems. The set includes passive and active components. The passive components can be formed into static structures and adaptable grids carrying electrical power and signals. Passive and active components canbe combined into general purpose mobile manipulators which are able to augment and reconfigure the g...

The main problem in trajectory generation and tracking of robotic manipulators is to plan the trajectory and compute the required joint angles. Inverse kinematics modelling is usually adopted, though sometimes other approaches are needed due to the lack of reliability and accuracy of analytical methods. This paper presents a comparison between an analytical inverse kinematics based hybrid appro...

We present a novel approach to mobile object manipulation for service in indoor environments. Current research in service robotics focus on single robots able to move, manipulate objects, and transport them to various locations. Our approach differs by taking a collective robotics perspective: different types of small robots perform different tasks and exploit complementarity by collaborating t...