This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a co...

c 1996 IEEE Minneapolis, MN, 1996 Motion Planning for Multiple Mobile Manipulators Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulator...

This survey provides the basis for developing research in the area of mobile manipulator performance measurement, an area that has relatively few research articles when compared to other mobile manipulator research areas. The survey provides a literature review of mobile manipulator research with examples of experimental applications. The survey also provides an extensive list of planning and c...

This paper develops a computational technique for finding the maximum allowable load of mobile manipulators for a given trajectory. The maximum allowable loads which can be achieved by a mobile manipulator during a given trajectory are limited by the number of factors; probably the dynamic properties of mobile base and mounted manipulator, their actuator limitations and additional constraints a...

In this paper, adaptive control of multiple mobile manipulators carrying a common object in a cooperative manner with unknown inertia parameters and disturbances has been investigated. firstly, A complete dynamics consisting of the dynamics of mobile manipulators and the object is presented for coordinated multiple mobile manipulators. Then, adaptive control has been designed for compensating p...

This paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (DLCC) for mobile-base flexible-link manipulators. In previously proposed methods in the literature of DLCC calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

this paper focuses on the effects of closed- control on the calculation of the dynamic load carrying capacity (dlcc) for mobile-base flexible-link manipulators. in previously proposed methods in the literature of dlcc calculation in flexible robots, an open-loop control scheme is assumed, whereas in reality, robot control is achieved via closed loop approaches which could render the calculated ...

Jaydev Desai, Chau-Chang Wang, Milo s Zefran and Vijay Kumar General Robotics and Active Sensory Perception (GRASP) Laboratory, University of Pennsylvania 3401 Walnut Street, Room 301C, Philadelphia, PA 19104-6228 Abstract We address the motion planning for \ xtureless" material-handling with multiple manipulators on nonholonomic carts. The mobile manipulators possess the ability to manipulate ...

This paper describes a robust approach exploiting input-output decoupling controller for mobile manipulators. The robust controller consists of using a classical proportional-derivative (PD) feedback structure to stabilize the position error plus an additional disturbance observer (DOB) to compensate external disturbances and uncertainties. Simulation results on a mobile platform with 2-DOF man...