a mobile manipulator robot is known as a complex system due to some properties such as coupling between the manipulator and mobile chassis, holonomic and nonholonomic constraints, multivariable and nonlinear dynamics. the control of robot faces the external disturbance, parametric uncertainty and unmodeled dynamics. therefore, the use of an adaptive fuzzy system is suggested for its capability ...

different methods arising from scientific investigation for removing noise from chaotic signals have been introduced and one of their best is local projection approach. the local projection approach projects the chaotic data in the neighborhood onto the hyper-plane. selection of neighborhood radius has a direct impact on its performance. a noticeable feature associated with chaotic trajectories...

This research focuses on proposing an optimal trajectory planning and control method of two link rigid-flexible manipulators (TLRFM) for Dynamic Object Manipulation (DOM) missions. For the first time, achievement of DOM task using a rotating one flexible link robot was taken into account in [20]. The authors do not aim to contribute on either trajectory tracking or vibration control of the End-...

Determination of the borehole and fracture initiation positions is the main aim of a borehole stability analysis. A wellbore trajectory optimization with the help of the mud pressure may be unreasonable since the mud pressure can only reflect the degree of difficulty for the initial damage to occur at the wellbore rather than the extent of the wellbore damage. In this work, we investigate...

In this paper a general formulation for finding the maximum allowable dynamic load (MADL) of flexible link mobile manipulators is presented. The main constraints used for the algorithm presented are the actuator torque capacity and the limited error bound for the end-effector during motion on the given trajectory. The precision constraint is taken into account with two boundary lines in plane w...

This paper presents an assessment of the steps involved in trajectory synthesis (for example, trajectory layout, trajectory generation, trajectory spacing, trajectory postprocessing, and trajectory verification) for shape-creating manufacturing operations such as rapid prototyping, milling, and electrical discharge machining. The rationale for this paper is that trajectory plays an important ro...