A common problem one has to face when developing mobile manipulators is the coordination between the movement of one or more manipulators and the locomotion of the mobile platform. This paper introduces a solution using a reactive look-back style approach instead of the widely used more deliberative methods. Additional degrees of freedom provided e.g. by an upper body mounted on the platform or...

This paper represents the technique of developing a ROS (Robot Operating System) based low cost mobile manipulator. Additionally, the contemporary commercial and custom ROSbased mobile manipulators have been discussed. In this paper, we have discussed how the performance of the high-end mobile manipulation platforms can be partially achieved by a low-cost custom made module implementing the bas...

Mobile manipulators installed in warehouses and factories for conveying goods between working stations need to meet the requirements of time-critical workflows. Moreover, the systems are expected to deal with changing tasks, cluttered environments and constraints imposed by the goods to be delivered. In this paper, we present a novel planning framework for generating asymptotically optimal path...

Mobile manipulators installed in warehouses and factories for conveying goods between working stations need to meet the requirements of time-critical workflows. Moreover, the systems are expected to deal with changing tasks, cluttered environments and constraints imposed by the goods to be delivered. In this paper, we present a novel planning framework for generating asymptotically optimal path...

A common problem one has to face when developing mobile manipulators is the coordination between the movement of one or more manipulators and the locomotion of the mobile platform. This paper introduces a solution using a reactive look-back style approach instead of the widely used more deliberative methods. Additional degrees of freedom provided e.g. by an upper body mounted on the platform or...

In this paper, we examine the development of a decentralized control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a large common object. Each individually autonomous mobile manipulator consists of a differentially-driven wheeled mobile robot (WMR) with a passive, two-degree-of-freedom, planar, revolute-jointed arm mounted in the plane...

We consider nonholonomic mobile manipulators built from an na joint robotic arm and a nonholonomic mobile platform with two independently driven wheels. Actually, there is no efficient kinematic formalism for these systems which are generally characterized by their high number of actuators. So, kinematic modelling is presented with particular emphasis on redundancy. Whereas kinematic redundancy...

We propose a systematic modelling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. It extends the fundamental notions of nonholonomy, mobility and manœuvrability to the case of these hybrid holonomic/nonholonomic systems. It offers unambiguous definitions and models to the designer of kinematic control laws.

In this thesis, the class of parallel manipulators with six kinematic chains of type PRRS is analyzed. In this class, six linear actuators attached to the base control the six degrees of freedom of the mobile platform of the parallel manipulator. Six legs of constant length connect the mobile platform to the linear actuators through respectively spherical and universal

We consider tracking control for mobile manipulators built from a wheeled mobile platform and a serial chain robotic arm. Two approaches are presented: the first one is based on global instantaneous kinematics for the whole system whereas the second one follows a decomposition approach that requires trajectory planning for the platform. Since the platform is nonholonomic, different issues have ...