This paper presents the application of the Visual Servoing technique for a mobile robot which must execute coordinate motions in a known indoor environment. Our contribution concerns especially the execution of a path expressed as a sequence of several basic motions (like Go to an object, Follow a wall, Turn around a corner,.. .): each one is a visually-guided movement. Namely the robot is cont...

The extended variational principle fails for non-holonomic case. We use a vertical rolling disk as an example to illustrate this failure. We have studied the fundamental dynamical principle from which the motion of a mechanical system, whether holonomic or non-holonomic, can be derived.

This paper presents an extension of current Global Dynamic Window approaches to arbitrarily shaped holonomic and non-holonomic mobile robots. The algorithm proceeds in two stages. In order to account for an arbitrary robot cross section, the first stage takes the robot’s orientation explicitly into account by constructing a navigation function in the (x, y, θ) configuration space. In a second s...

In this paper, a combined control of a mobile manipulator is studied, the platform is velocity controlled and the manipulator is torque controlled. Our objective is to develop a control method which generates the adequate articular torques and kinematics control to move the end-effector and the platform for executing the task efficiently without any collisions between the mobile manipulator (ma...

In this paper, we will explore combining the manipulation of a robotic arm and the mobility of a mobile platform, both in theory and in hardware implementation. First, the kinematic equations of the 7-DoF redundant robotic arm and the 2-DoF non-holonomic mobile platform will be introduced. Second, we will derive the Jacobian equations of the robotic arm and the mobile platform. The two Jacobian...

In this paper, we present a universal control technique, the non-holonomic control, which allows us to impose any arbitrarily prescribed unitary evolution to any quantum system through the alternate application of two well-chosen perturbations.