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Relevant bibliographies by topics / Mobile manipulator

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Academic literature on the topic 'Mobile manipulator'

Author: Grafiati

Published: 4 June 2021

Last updated: 4 March 2023

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Journal articles on the topic "Mobile manipulator"

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Aviles, Oscar, Mauricio Felipe Mauledoux Monroy, and Oscar Rubiano. "Electronic Architecture for a Mobile Manipulator." International Journal of Online Engineering (iJOE) 14, no. 02 (February 28, 2018): 133. http://dx.doi.org/10.3991/ijoe.v14i02.7672.

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A mobile manipulator is a robotic system consisting of a mobile platform on which a manipulator arm is mounted, allowing the robotic system to perform locomotion and manipulation tasks simultaneously. A mobile manipulator has several advantages over a robot manipulator which is fixed, the main advantage is a larger workspace. The robots manipulators are oriented to work collaboratively with the human being in tasks that simultaneously require mobility and ability to interact with the environment through the manipulation of objects. This article will present the electronic design for a mobile robot manipulator with five degrees of freedom and a 6-wheel traction with four of these directional.

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Minami, Mamoru, Hiroshi Tanaka, and Yasushi Mae. "Avoidance Ability of Redundant Mobile Manipulators During Hand Trajectory Tracking." Journal of Advanced Computational Intelligence and Intelligent Informatics 11, no. 2 (February 20, 2007): 135–41. http://dx.doi.org/10.20965/jaciii.2007.p0135.

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We propose a criterion of obstacle avoidance for a mobile manipulator, consisting of a redundant manipulator and a mobile robot. In the configuration control study of redundant manipulators, the avoidance manipulability ellipsoid and the avoidance manipulability shape index have been suggested as an index to symbolize avoidance ability of the manipulator’s shape when the hand tracks a desired trajectory. In following proposed criteria of obstacle avoidance ability, we extend concepts for mobile manipulators to discuss the avoidance ability of intermediate links for mobile operations. We start by analytically formulating, the avoidance manipulability ellipsoid and the avoidance manipulability shape index of a mobile manipulator. We then evaluate the avoidance manipulability shape index representing shape changeability for the entire manipulator’s configuration using a mobile manipulator with a three-link arm as an example.

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Frejek, M., and S. B. Nokleby. "A Methodology for tele-operating mobile manipulators with an emphasis on operator ease of use." Robotica 31, no. 3 (June 7, 2012): 331–44. http://dx.doi.org/10.1017/s0263574712000318.

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SUMMARYAn algorithm for the tele-operation of mobile-manipulator systems with a focus on ease of use for the operator is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators. It consists of three states. In the first state, a single 6-degrees-of-freedom (DOF) joystick is used to control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, resulting in the mobile base moving in a manner so as to keep the end-effector travelling in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is entered when the operator returns the joystick to the home position. Both the mobile base and manipulator move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The algorithm has been implemented on an 8-DOF mobile manipulator and the test results show that it is effective at moving the system in an intuitive manner.

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Osumi, Hisashi, and Eisuke Konishi. "Control Strategy for Mobile Manipulators." Journal of Robotics and Mechatronics 9, no. 4 (August 20, 1997): 262–66. http://dx.doi.org/10.20965/jrm.1997.p0262.

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Control strategies for mobile manipulators consisting of a serial link manipulator and a 2DW type platform are reviewed. Since a mobile manipulator has kinematic redundancy and non-holonomic constraints, these two characteristics must be considered in designing controllers. First, the relationship between a target trajectory and a motion command for the mobile manipulator is formulated. Based on the formulation, the characteristics of the least square norm solution for moving a mobile manipulator along a target trajectory is analyzed by a simple simulation. Second, some performance indices for exploiting kinematic redundancy to improve mobility or manipulability of the mobile manipulator are introduced.

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Yang, Zeguo, Mantian Li, Fusheng Zha, Xin Wang, Pengfei Wang, and Wei Guo. "Imitation learning of a wheeled mobile manipulator based on dynamical movement primitives." Industrial Robot: the international journal of robotics research and application 48, no. 4 (June 17, 2021): 556–68. http://dx.doi.org/10.1108/ir-11-2020-0255.

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Purpose This paper aims to introduce an imitation learning framework for a wheeled mobile manipulator based on dynamical movement primitives (DMPs). A novel mobile manipulator with the capability to learn from demonstration is introduced. Then, this study explains the whole process for a wheeled mobile manipulator to learn a demonstrated task and generalize to new situations. Two visual tracking controllers are designed for recording human demonstrations and monitoring robot operations. The study clarifies how human demonstrations can be learned and generalized to new situations by a wheel mobile manipulator. Design/methodology/approach The kinematic model of a mobile manipulator is analyzed. An RGB-D camera is applied to record the demonstration trajectories and observe robot operations. To avoid human demonstration behaviors going out of sight of the camera, a visual tracking controller is designed based on the kinematic model of the mobile manipulator. The demonstration trajectories are then represented by DMPs and learned by the mobile manipulator with corresponding models. Another tracking controller is designed based on the kinematic model of the mobile manipulator to monitor and modify the robot operations. Findings To verify the effectiveness of the imitation learning framework, several daily tasks are demonstrated and learned by the mobile manipulator. The results indicate that the presented approach shows good performance for a wheeled mobile manipulator to learn tasks through human demonstrations. The only thing a robot-user needs to do is to provide demonstrations, which highly facilitates the application of mobile manipulators. Originality/value The research fulfills the need for a wheeled mobile manipulator to learn tasks via demonstrations instead of manual planning. Similar approaches can be applied to mobile manipulators with different architecture.

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Toledo Fuentes, Aishe, Franziska Kempf, Martin Kipfmüller, Tobias Bergmann, and Miguel J. Prieto. "Tip-Over Detection and Avoidance Algorithms as Stabilization Strategy for Small-Footprint and Lightweight Mobile Manipulators." Machines 11, no. 1 (December 30, 2022): 44. http://dx.doi.org/10.3390/machines11010044.

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The risk of tip-over is a common problem in agile, lightweight mobile manipulators. An easy-to-implement and reliable stabilization strategy plays a key role for the wide operation of these highly dynamic systems in the industrial sector. This study addresses a method in which mobile manipulators independently detect instabilities and trigger countermeasures to prevent them from tilting. A tip-over detection algorithm was implemented based on the Moment Height Stability method, whose main advantage is the examination of all dynamical influences affecting the mobile manipulator to indicate how stable/unstable the system is during its operation. Consequently, the theoretical workspace of the robot manipulator was redefined using a certain critical boundary surface subjected to the analysis of the stability value. This workspace optimization was complemented with an additional algorithm in which the robot manipulator joints adopt an appropriate configuration to compensate in real-time detected instabilities. During repositioning of the robot manipulator’s arm, the initial orientation of its tool center point is maintained to avoid a workpiece mishandle. The simulation and experimental results suggest that the system is stable and safe to operate in changing environments, thus providing a universal approach to avoid the inherent stability problems of agile and lightweight mobile manipulators.

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Abo-Shanab, R. F., and N. Sepehri. "On dynamic stability of manipulators mounted on mobile platforms." Robotica 19, no. 4 (July 2001): 439–49. http://dx.doi.org/10.1017/s0263574701003356.

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This paper presents the development of a model which can adequately simulate the dynamic stability of manipulators mounted on moveable platforms. The model takes into account the dynamics of the base that can potentially rock back-and-forth. Particularly, the model predicts the changes in the velocities of the manipulator links and the base due to impact with the ground. The application of the study is directed at industrial machines that carry human-operated hydraulic manipulators. The model is therefore used to simulate for the first time, planar movements of'a Caterpillar 215B excavator-based log-loader. The results clearly show the effect of the manipulator movement on turning the base over. The results also show that by proper manipulation of the arms, one can achieve a stable condition and even reverse the ‘tipover' situation in such machines.

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Heidary, H. R. "Maximum Allowable Dynamic Load of Mobile Manipulators with Stability Consideration." Journal of Theoretical and Applied Mechanics 45, no. 3 (September 1, 2015): 3–22. http://dx.doi.org/10.1515/jtam-2015-0014.

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Abstract High payload to mass ratio is one of the advantages of mobile robot manipulators. In this paper, a general formula for finding the maximum allowable dynamic load (MADL) of wheeled mobile robot is presented. Mobile manipulators operating in field environments will be required to manipulate large loads, and to perform such tasks on uneven terrain, which may cause the system to reach dangerous tip-over instability. Therefore, the method is expanded for finding the MADL of mobile manipulators with stability consideration. Moment-Height Stability (MHS) criterion is used as an index for the system stability. Full dynamic model of wheeled mobile base and mounted manipulator is considered with respect to the dynamic of non-holonomic constraint. Then, a method for determination of the maximum allowable loads is described, subject to actuator constraints and by imposing the stability limitation as a new constraint. The actuator torque constraint is applied by using a speed-torque characteristics curve of a typical DC motor. In order to verify the effectiveness of the presented algorithm, several simulation studies considering a two-link planar manipulator, mounted on a mobile base are presented and the results are discussed.

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Galicki, Mirosław. "Task space control of mobile manipulators." Robotica 29, no. 2 (March 22, 2010): 221–32. http://dx.doi.org/10.1017/s026357471000007x.

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SUMMARYThis study offers the solution of the end-effector trajectory tracking problem subject to state constraints, suitably transformed into control-dependent ones, for mobile manipulators. Based on the Lyapunov stability theory, a class of controllers fulfilling the above constraints and generating the mobile manipulator trajectory with (instantaneous) minimal energy, is proposed. The problem of manipulability enforcement is solved here based on an exterior penalty function approach which results in continuous mobile manipulator controls even near boundaries of state constraints. The numerical simulation results carried out for a mobile manipulator consisting of a non-holonomic unicycle and a holonomic manipulator of two revolute kinematic pairs, operating in a two-dimensional task space, illustrate the performance of the proposed controllers.

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Zhang, Shijun, Shuhong Cheng, and Zhenlin Jin. "A Control Method of Mobile Manipulator Based on Null-Space Task Planning and Hybrid Control." Machines 10, no. 12 (December 15, 2022): 1222. http://dx.doi.org/10.3390/machines10121222.

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The mobile manipulator is a floating base structure with wide space operability. An integrated mechanical device for mobile operation is formed through the organic combination of the mobile platform and multi-axis manipulator. This paper presents a general kinematic modeling method for mobile manipulators and gives the relevant derivation of the dynamic model. Secondly, the null-space composition of the mobile manipulator is analyzed, the task space is divided, and a variety of task-switching criteria are designed. Finally, a hybrid control model combining dynamic feedback and synovial control based on dynamic parameter identification is designed, and stability proof is given. The theoretical method is also verified by the experimental platform. The proposed method can effectively improve the control accuracy of the mobile manipulator, and the hybrid control method can effectively control the output torque to reach the ideal state.

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Dissertations / Theses on the topic "Mobile manipulator"

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Akpan, Unyime Okon. "Dynamics of flexible mobile manipulator structures." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1997. http://www.collectionscanada.ca/obj/s4/f2/dsk2/ftp03/NQ31515.pdf.

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Frejek, Michael C. "Novel tele-operation of mobile-manipulator systems." Thesis, UOIT, 2009. http://hdl.handle.net/10155/32.

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A novel algorithm for the simplified tele-operation of mobile-manipulator systems is presented. The algorithm allows for unified, intuitive, and coordinated control of mobile manipulators, systems comprised of a robotic arm mounted on a mobile base. Unlike other approaches, the mobile-manipulator system is modeled and controlled as two separate entities rather than as a whole. The algorithm consists of thee states. In the rst state a 6-DOF (degree-of-freedom) joystick is used to freely control the manipulator's position and orientation. The second state occurs when the manipulator approaches a singular configuration, a con guration where the arm instantaneously loses a DOF of motion capability. This state causes the mobile base to proceed in such a way as to keep the end-effector moving in its last direction of motion. This is done through the use of a constrained optimization routine. The third state is triggered by the user: once the end-effector is in the desired position, the mobile base and manipulator both move with respect to one another keeping the end-effector stationary and placing the manipulator into an ideal configuration. The proposed algorithm avoids the problems of algorithmic singularities and simplifies the control approach. The algorithm has been implemented on the Jasper Mobile-Manipulator System. Test results show that the developed algorithm is effective at moving the system in an intuitive manner.

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Amoako-Frimpong, Samuel. "Search Methods for Mobile Manipulator Performance Measurement." Thesis, Marquette University, 2018. http://pqdtopen.proquest.com/#viewpdf?dispub=10841175.

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Mobile manipulators are a potential solution to the increasing need for additional flexibility and mobility in industrial robotics applications. However, they tend to lack the accuracy and precision achieved by fixed manipulators, especially in scenarios where both the manipulator and the autonomous vehicle move simultaneously. This thesis analyzes the problem of dynamically evaluating the positioning error of mobile manipulators. In particular, it investigates the use of Bayesian methods to predict the position of the end-effector in the presence of uncertainty propagated from the mobile platform. Simulations and real-world experiments are carried out to test the proposed method against a deterministic approach. These experiments are carried out on two mobile manipulators—a proof-of-concept research platform and an industrial mobile manipulator—using ROS and Gazebo. The precision of the mobile manipulator is evaluated through its ability to intercept retroreflective markers using a photoelectric sensor attached to the end-effector. Compared to the deterministic search approach, we observed improved interception capability with comparable search times, thereby enabling the effective performance measurement of the mobile manipulator.

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Bostelman, Roger. "Performance measurement of mobile manipulators." Thesis, Bourgogne Franche-Comté, 2018. http://www.theses.fr/2018UBFCK003/document.

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Une approche avancée de la fabrication flexible consiste à déplacer des manipulateurs robotisés AGV ou robot mobile, appelé manipulateurs mobiles, entre les postes de travail. L'utilisation de manipulateurs mobiles peuvent être avantageux dans un certain nombre de situations. Cela peut entraîner des coûts économies lorsqu'un seul manipulateur mobile peut être utilisé pour remplacer plusieurs stationnaires manipulateurs. Cependant, les manipulateurs mobiles sont «une discipline relativement jeune robotique. "Une revue de la littérature approfondie de la recherche menant à la commercialisation mobile manipulateurs et robots mobiles a été réalisée. La mesure de la performance du mobile les manipulateurs, y compris une base mobile avec un bras de robot embarqué, sont pratiquement inexistants. Cependant, les manipulateurs mobiles commencent à apparaître dans la fabrication, la santé, et peut-être d'autres industries et, par conséquent, une méthode pour mesurer leur performance est essentielle pour les fabricants et les utilisateurs de ces systèmes relativement complexes. Mesures de mobile manipulateurs effectuant des tâches standard (poses et mouvements) sont également inexistants, sauf pour simplement s'assurer que la tâche a été plus ou moins complétée. La tâche choisie pour cela thèse est l'assemblage en raison de son exigence de pose de système.Les méthodes de test de performance ont pris du retard par rapport aux méthodes de test de sécurité pour les manipulateurs mobiles qui progresse vers le développement d'une nouvelle norme de sécurité aux États-Unis. Métriques pour la sécurité et la performance des manipulateurs mobiles comprennent de nombreux domaines, tels que: l'achèvement des tâches, le temps nécessaire pour accomplir la tâche, la qualité et la quantité (c.-à-d.répétabilité, respectivement) des tâches accomplies. Avant l'acceptation industrielle et les normes développement pour les manipulateurs mobiles, les utilisateurs de ces nouveaux systèmes attendront des fabricants fournir des données de performance réelles pour guider leur approvisionnement et assurer l'aptitude à tâches d'application. En raison du coût relativement élevé pour acquérir et installer des systèmes de suivi de mouvement Pour mesurer la performance des systèmes, une méthode alternative à utiliser par les fabricants et les utilisateurs est idéal. Un nouveau concept de méthode de test qui utilise un artefact, appelé mobile reconfigurable Manipulateur Artefact (RMMA), est décrit dans cette thèse et comparé à un suivi optique système qui a été utilisé comme vérité de terrain pour le RMMA et manipulateur mobile. Système de modélisation du système de manipulation mobile, des composants et des les mesures peuvent aider à améliorer la compréhension de ces systèmes relativement complexes.Systems Modelling Language (SysML) a été choisi et utilisé tout au long de cette thèse, car de SysML a des modules logiciels réutilisables pour la structure, le comportement, les exigences et parametrics sur le manipulateur mobile. Les modèles décrivent les nombreux aspects de mesurer la performance des manipulateurs mobiles également en tant que nouveau domaine de recherche.Les modèles étaient évalué à travers des expériences sur un exemple de composants manipulateurs mobiles et l'ensemble système. SysML a été utilisé pour décrire la base théorique de la performance à travers la propagation de l'incertitude lorsque les équations mathématiques sont également modélisées.Un cas d'utilisation est modélisé et décrit où les concepts recherchés pour mesurer les mobiles les performances du manipulateur sont appliquées à une implémentation de fabrication. Le simpliste la nature du processus de mesure utilisant le RMMA peut être directement appliquée à processus de fabrication, et étendu au-delà des contributions de cette recherche à d'autres des besoins de mesure encore plus complexes (...)
An advanced approach to flexible manufacturing is to move robotic manipulators, using anAGV or mobile robot, called mobile manipulators, between workstations. The use ofmobile manipulators can be advantageous in a number of situations. It can result in costsavings when a single mobile manipulator can be used to replace several stationarymanipulators. However, mobile manipulators are “a relatively young discipline withinrobotics.” An extensive literature review of the research leading to commercial mobilemanipulators and mobile robots was performed. The performance measurement of mobilemanipulators, including a mobile base with an onboard robot arm, is virtually non-existent.However, mobile manipulators are beginning to appear in manufacturing, healthcare, andpossibly other industries and therefore, a method to measure their performance is critical toboth manufacturers and users of these relatively complex systems. Measurements of mobilemanipulators performing standard tasks (poses and motions) are also non-existent except forsimply ensuring that the task has been more or less completed. The task chosen for thisthesis is assembly due to its requirement for relatively precise system posing.Performance test methods have lagged behind safety test methods for mobile manipulatorswhich is progressing towards development of a new safety standard in the US. Metrics forsafety and performance of mobile manipulators include many areas, such as: safe operation,task completion, time to complete the task, quality, and quantity (i.e., accuracy andrepeatability, respectively) of tasks completed. Prior to industrial acceptance and standardsdevelopment for mobile manipulators, users of these new systems will expect manufacturersto provide real performance data to guide their procurement and assure suitability for givenapplication tasks. Due to the relatively high cost to procure and setup motion tracking systemsto measure systems performance, an alternative method for use by manufacturers and users isideal. A new test method concept that uses an artifact, called the Reconfigurable MobileManipulator Artifact (RMMA), is described in this thesis and compared to an optical trackingsystem that was used as ground truth for the RMMA and mobile manipulator.System modeling the mobile manipulator system, components, and the associatedmeasurements can help to improve the understanding of these relatively complex systems.Systems Modeling Language (SysML) was chosen and used throughout this thesis becauseof SysML has reusable software modules for structure, behavior, requirements andparametrics off the mobile manipulator. The models describe the many aspects ofmeasuring mobile manipulator performance also as new research area. The models wereevaluated through experiments on an example mobile manipulator components and the entiresystem. SysML was used to describe the theoretical basis of the performance throughpropagation of uncertainty where mathematical equations are also modeled.A use case is modeled and described where the concepts researched to measure mobilemanipulator performance are applied to a manufacturing implementation. The simplisticnature of the measurement process using the RMMA can be directly applied to today’smanufacturing processes, and extended beyond the contributions of this research to othereven more complex measurement needs. The research is also discussed to even apply tocross-industry test methods for exoskeletons worn by humans

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Gong, Kelvin. "A Modular, Behaviour-Based Hierarchical Controller For Mobile Manipulators." Thesis, University of Canterbury. Electrical and Computer Engineering, 2013. http://hdl.handle.net/10092/8375.

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A mobile manipulator is a robotic system consisting of a robotic manipulator mounted onto a mobile base. This greatly extends the workspace of the robotic manipulator and allows it to perform more tasks. However, combining both systems increases the complexity of the control task as well as introducing additional controller tasks such as coordination of motion, where executing the task can involve using both the mobile base and manipulator, and cooperation of task, where many tasks can be executed at once. In this thesis a controller for a mobile manipulator is developed from smaller, simple controller blocks, allowing the controller to be ﬂexible, easy to understand, and straightforward to implement using well-known embedded software implementation approaches. A behaviour-based approach was used to build the individual controllers, and a hierarchical structure was used to organise the individual controllers to provide cooperation between them and coordinated motion. The task assigned to the controller was to reach a series of waypoints in a large workspace, while satisfying performance metrics of manipulability and tip-over sta- bility. The operation of the controller was tested in simulation using 100 randomly generated scenarios consisting of ﬁve randomly generated waypoints in each. Using default thresholds for manipulability and tip-over stability, the controller was success- fully able to complete all scenarios. Further simulations were then performed testing the eﬀects of varying the thresholds of the performance metrics to explore the tradeoﬀs involved in diﬀerent parameter choices. The controller was successful in a majority of these scenarios, with only a few failing due to extreme threshold choices. The reasons for these failures, and the corresponding lessons for robot designers are discussed. Finally, to demonstrate the modularity of the controller, an obstacle avoidance con- troller was added and simulation results showed the controller was capable of avoiding obstacles while still performing the same tasks that were used in previous tests. Successful simulation results of the controller across a range of performance metrics shows that the combination of a behaviour based and hierarchical approach to mobile manipulator control is not only capable of producing a functional controller, but also one that is more modular and easier to understand than the monolithic controllers developed by other researchers.

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Venator, Edward Stephen. "A Low-cost Mobile Manipulator for Industrial and Research Applications." Case Western Reserve University School of Graduate Studies / OhioLINK, 2013. http://rave.ohiolink.edu/etdc/view?acc_num=case1370512665.

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Ward, Keith Ronald. "Pseudo joint damping for reactive control of a mobile manipulator." Thesis, Georgia Institute of Technology, 1993. http://hdl.handle.net/1853/17634.

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Traczinski, Holger. "Integration von Algorithmen und Datentypen zur validierten Mehrkörpersimulation in MOBILE." Berlin Logos-Verl, 2006. http://deposit.d-nb.de/cgi-bin/dokserv?id=2917159&prov=M&dok_var=1&dok_ext=htm.

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Chan, Julius Koi Wah. "Dynamics and control of an orbiting space platform based mobile flexible manipulator." Thesis, University of British Columbia, 1990. http://hdl.handle.net/2429/29466.

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This paper presents a Lagrangian formulation for studying the dynamics and control of the proposed Space Station based Mobile Servicing System (MSS) for a particular case of in plane libration and maneuvers. The simplified case is purposely considered to help focus on the effects of structural and joint flexibility parameters of the MSS on the complex interactions between the station and manipulator dynamics during slewing and translational maneuvers. The response results suggest that under critical combinations of parameters, the system can become unstable. During maneuvers, the deflection of the MSS can become excessive, leading to positioning error of the payload. At the same time the libration error can also be significant. A linear quadratic regulator is designed to control the deflection of the manipulator and maintain the station at its operating configuration.
Applied Science, Faculty of
Mechanical Engineering, Department of
Graduate

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Counsell, M. "Haptic communication for remote mobile and manipulator robot operations in hazardous environments." Thesis, University of Salford, 2003. http://usir.salford.ac.uk/2039/.

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Nuclear decommissioning involves the use of remotely deployed mobile vehicles and manipulators controlled via teleoperation systems. Manipulators are used for tooling and sorting tasks, and mobile vehicles are used to locate a manipulator near to the area that it is to be operated upon and also to carry a camera into a remote area for monitoring and assessment purposes. Teleoperations in hazardous environments are often hampered by a lack of visual information. Direct line of sight is often only available through small, thick windows, which often become discoloured and less transparent over time. Ideal camera locations are generally not possible, which can lead to areas of the cell not being visible, or at least difficult to see. Damage to the mobile, manipulator, tool or environment can be very expensive and dangerous. Despite the advances in the recent years of autonomous systems, the nuclear industry prefers generally to ensure that there is a human in the loop. This is due to the safety critical nature of the industry. Haptic interfaces provide a means of allowing an operator to control aspects of a task that would be difficult or impossible to control with impoverished visual feedback alone. Manipulator endeffector force control and mobile vehicle collision avoidance are examples of such tasks. Haptic communication has been integrated with both a Schilling Titan II manipulator teleoperation system and Cybermotion K2A mobile vehicle teleoperation system. The manipulator research was carried out using a real manipulator whereas the mobile research was carried out in simulation. Novel haptic communication generation algorithms have been developed. Experiments have been conducted using both the mobile and the manipulator to assess the performance gains offered by haptic communication. The results of the mobile vehicle experiments show that haptic feedback offered performance improvements in systems where the operator is solely responsible for control of the vehicle. However in systems where the operator is assisted by semi autonomous behaviour that can perform obstacle avoidance, the advantages of haptic feedback were more subtle. The results from the manipulator experiments served to support the results from the mobile vehicle experiments since they also show that haptic feedback does not always improve operator performance. Instead, performance gains rely heavily on the nature of the task, other system feedback channels and operator assistance features. The tasks performed with the manipulator were peg insertion, grinding and drilling.

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Books on the topic "Mobile manipulator"

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Van Toan, Nguyen, and Phan Bui Khoi. A Robotic Framework for the Mobile Manipulator. Boca Raton: CRC Press, 2023. http://dx.doi.org/10.1201/9781003352426.

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Hunter, David G. An overview of the space station Special Purpose Dexterous Manipulator (SPDM). [Ottawa]: National Research Council Canada, 1988.

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Chen, M. W. Dynamic modelling and genetic-based motion planning of mobile manipulator systems with nonholonomic constraints. Sheffield: University of Sheffield. Department of Automatic Control and Systems Engineering, 1995.

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Chen, Mingwu. A genetic approach to the motion planning of redundant mobile manipulator systems considering safety and configuration. Sheffield: University of Sheffield. Department of Automatic Control and Systems Engineering, 1995.

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Watkins, David Joseph. Learning Mobile Manipulation. [New York, N.Y.?]: [publisher not identified], 2022.

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Pitts, David Thomas. Dynamic analysis of mobile manipulators. Ottawa: National Library of Canada, 1999.

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Sturm, Jürgen. Approaches to Probabilistic Model Learning for Mobile Manipulation Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-37160-8.

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Sturm, Jürgen. Approaches to Probabilistic Model Learning for Mobile Manipulation Robots. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013.

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Mazur, Alicja. Sterowanie oparte na modelu dla nieholonomicznych manipulatorów mobilnych. Wrocław: Oficyna Wydawnicza Politechiki Wrocławskiej, 2000.

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Cooperstock, Jeremy. A neural network operated vision-guided mobile robot arm for docking and reaching. Toronto: University of Toronto, Dept. of Computer Science, 1992.

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Book chapters on the topic "Mobile manipulator"

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Van Toan, Nguyen. "Manipulator Manipulation." In A Robotic Framework for the Mobile Manipulator, 59–68. Boca Raton: CRC Press, 2023. http://dx.doi.org/10.1201/9781003352426-5.

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Khatib, Oussama. "Mobile manipulator systems." In Autonomous Robotic Systems, 141–48. London: Springer London, 1998. http://dx.doi.org/10.1007/bfb0030803.

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Khatib, O. "Mobile Manipulator Systems." In ROMANSY 11, 3–10. Vienna: Springer Vienna, 1997. http://dx.doi.org/10.1007/978-3-7091-2666-0_1.

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Prats, Mario, Angel P. del Pobil, and Pedro J. Sanz. "Towards an Assistive Mobile Manipulator." In Robot Physical Interaction through the combination of Vision, Tactile and Force Feedback, 129–57. Berlin, Heidelberg: Springer Berlin Heidelberg, 2013. http://dx.doi.org/10.1007/978-3-642-33241-8_8.

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von Wichert, Georg, Thomas Wösch, Steffen Gutmann, and Gisbert Lawitzky. "MobMan — Ein mobiler Manipulator für Alltagsumgebungen." In Autonome Mobile Systeme 2000, 55–62. Berlin, Heidelberg: Springer Berlin Heidelberg, 2000. http://dx.doi.org/10.1007/978-3-642-59576-9_7.

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Van Toan, Nguyen. "Mobile Robot Navigation." In A Robotic Framework for the Mobile Manipulator, 35–58. Boca Raton: CRC Press, 2023. http://dx.doi.org/10.1201/9781003352426-4.

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Deepak, B. B. V. L., Dayal R. Parhi, and Ravi Praksh. "Kinematic Control of a Mobile Manipulator." In Lecture Notes in Electrical Engineering, 339–46. New Delhi: Springer India, 2016. http://dx.doi.org/10.1007/978-81-322-3589-7_38.

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Zhoga, V., A. Gavrilov, V. Gerasun, I. Nesmianov, V. Pavlovsky, V. Skakunov, V. Bogatyrev, D. Golubev, V. Dyashkin-Titov, and N. Vorobieva. "Walking Mobile Robot with Manipulator-Tripod." In Advances on Theory and Practice of Robots and Manipulators, 463–71. Cham: Springer International Publishing, 2014. http://dx.doi.org/10.1007/978-3-319-07058-2_52.

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Tchoń, K., J. Jakubiak, and Ł. Małek. "Dynamic Jacobian Inverses of Mobile Manipulator Kinematics." In Advances in Robot Kinematics: Motion in Man and Machine, 11–21. Dordrecht: Springer Netherlands, 2010. http://dx.doi.org/10.1007/978-90-481-9262-5_2.

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Varela-Aldás, José, Jorge Buele, Santiago Guerrero-Núñez, and Víctor H. Andaluz. "Mobile Manipulator for Hospital Care Using Firebase." In HCI International 2022 - Late Breaking Papers. Multimodality in Advanced Interaction Environments, 328–41. Cham: Springer Nature Switzerland, 2022. http://dx.doi.org/10.1007/978-3-031-17618-0_24.

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Conference papers on the topic "Mobile manipulator"

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Jensen, Austin M., and YangQuan Chen. "Mobile Manipulator Networks: Platform Development and Applications." In ASME 2007 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. ASMEDC, 2007. http://dx.doi.org/10.1115/detc2007-34412.

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This paper presents a new platform with a team of lab-scale networked mobile robotic manipulators (SumoMote) which merges a mobile manipulator with wireless mobile sensor networks. Many existing platforms built for mobile manipulation are big and expensive. Our SumoMote is built small and inexpensive for applications where quantity is more important than size. The hardware and software of the SumoMote will be described. Then two application scenarios will be presented to illustrate SumoMote’s capability in mobile sensor networks and how the added manipulator can help.

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Stiles, James M., Jae H. Chung, and Steven A. Velinsky. "Dynamic Modeling of a Non-Redundant Spatial Mobile Manipulator." In ASME 2001 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2001. http://dx.doi.org/10.1115/detc2001/vib-21532.

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Abstract Mobile manipulators are comprised of robot manipulators mounted upon mobile platforms which allow for both high mobility and dexterous manipulation ability. Although much research has been performed in the area of motion control of mobile manipulators, previous developed models are typically simplified and assume only planar motion and/or holonomic constraints. In this work, the equations of motion of a three dimensional non-redundant wheeled-vehicle based mobile manipulator system are developed using a Newton-Euler formulation. This model incorporates a complex tire model which accounts for tire slip and is thus applicable to high speed and high load applications. The model is systematically exercised to examine the dynamic interaction effects between the mobile platform and the robot manipulator, to illustrate the effects of wheel slip on system performance, and to establish bounds on the efficacy of the simplified existing kinematic models.

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Lee, Hoyul, Yonghwan Oh, Woong Hee Shon, and Youngjin Choi. "Stackable manipulator for mobile manipulation robot." In 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE, 2012. http://dx.doi.org/10.1109/icra.2012.6224793.

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Du, Bin, Jing Zhao, and Chunyu Song. "Optimal Base Placement and Motion Planning for Mobile Manipulators." In ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/detc2012-70600.

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A mobile manipulator typically consists of a mobile platform and a robotic manipulator mounted on the platform. The base placement of the platform has a great influence on whether the manipulator can perform a given task. In view of the issue, a new approach to optimize the base placement for a specified task is proposed in this paper. Firstly, the workspace of a redundant manipulator is investigated. The manipulation capability of the redundant manipulator is maximized based on the manipulability index through the joint self-motion of the redundant manipulator. Then the maximum manipulation capability in the specified work point is determined. Next, the relative manipulability index (RMI) is defined for analyzing manipulation capability of the manipulator in its workspace, and the global manipulability map (GMM) is presented based on the above measure. Moreover, the optimal base placement related to the given task is obtained, and the motion planning is implemented by an improved rapidly-exploring random tree (RRT) algorithm with the RMI, which can enhance the manipulation capability from the initial point to the target point. Finally, the feasibility of the proposed algorithm is illustrated with numerical simulations and experiments on the mobile manipulator.

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Gan, Dongming, Jiaming Fu, Mo Rastgaar, Byung-Cheol Min, and Richard Voyles. "Actuation-Coordinated Mobile Parallel Robots With Hybrid Mobile and Manipulation Function." In ASME 2021 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. American Society of Mechanical Engineers, 2021. http://dx.doi.org/10.1115/detc2021-70081.

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Abstract Mobile robots with manipulation capability are a key technology that enables flexible robotic interactions, large area covering and remote exploration. This paper presents a novel class of actuation-coordinated mobile parallel robots (ACMPRs) that utilize parallel mechanism configurations and perform hybrid moving and manipulation functions through coordinated wheel actuators. The ACMPRs differ with existing mobile manipulators by their unique combination of the mobile wheel actuators and the parallel mechanism topology through prismatic joint connections. The common motion of the wheels will provide the mobile function while their differentiation will actuate the parallel manipulator function. This new concept reduces the actuation requirement and increases the manipulation accuracy and mobile motion stability through the coordinated and connected wheel actuators comparing with existing mobile parallel manipulators. The relative wheel location on the base frame also enables a reconfigurable base size with variable moving stability on the ground. The basic concept and general type synthesis are introduced and followed by the kinematics and inverse dynamics analysis of a selected three limb ACMPR. A numerical simulation also illustrates the dynamics model and the motion property of the new mobile parallel robot. The work provides a basis for introducing this new class of robots for potential applications in surveillance, industrial automation, construction, transportation, human assistance, medical applications and other operations in extreme environment such as nuclear plants, Mars, etc.

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Shi, Jane, Brad Hamner, Reid Simmons, and Sanjiv Singh. "Mobile Robotic Assembly on a Moving Vehicle." In ASME/ISCIE 2012 International Symposium on Flexible Automation. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/isfa2012-7193.

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Mobile manipulators offer the potential of simultaneous mobility and manipulation to meet the challenges of complex assembly tasks. However, there have been few attempts to utilize mobile manipulators for automating the final assembly of automotive manufacturing process. In this paper, we present the development of control strategies for a mobile manipulator to perform the assembly of automotive wiring harnesses onto a moving vehicle. We highlight the coordinated control framework that incorporates pure pursuit tracking control, discuss constrained motion primitives and reactive visual servo with force constraints, examine contact forces of the wiring harness assembly, and present experimental results for both successful and failed attempts of attaching a wiring harness to a moving vehicle body. Finally, we discuss remaining challenges in achieving robotic assembly automation on moving assembly lines.

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He, Liang, Sean Phillips, Steven Waslander, and William Melek. "Task Based Pose Optimization of Modular Mobile Manipulators." In ASME 2012 11th Biennial Conference on Engineering Systems Design and Analysis. American Society of Mechanical Engineers, 2012. http://dx.doi.org/10.1115/esda2012-83010.

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We propose a task based pose optimization method for modular mobile manipulators. The modular mobile manipulators are designed and prototyped by researchers at University of Waterloo. The intended application of the modular mobile manipulator is to assist urban search and rescue in unstructured environments. A single mobile manipulator with limited capability cannot achieve complex tasks in this application. When several modular mobile manipulators are linked to one another, they can perform complex tasks through decentralized collaboration. The focus of this research is to develop and simulate a task based pose optimization algorithm for several mobile robots linked by dexterous arms. A genetic algorithm is a bio-inspired optimization technique that mimics the process of evolution. In nature, many living organisms, such as ants and birds use genetic algorithms to forge for food and achieve complex tasks. The advantages of the genetic algorithm are its simplicity and effectiveness. The proposed genetic algorithm in this research optimizes the manipulability measure of the onboard mechanical manipulator arms. To verify the proposed task based pose optimization algorithm, a formation of three mobile manipulators serially connected through their onboard mechanical manipulators is considered in this research. The control architecture is organized into a three level hierarchy. On the top level, a human operator sends guiding commands to the lead module in the formation through a wireless communication channel. The median level control aims at optimizing the manipulator pose. The base level control is established with the input-output linearization. To add realistic considerations into the simulation environment, fractal terrains are generated with the popular Diamond-Square algorithm. The inclination angle of each mobile manipulator on the terrain is estimated through a four-point terrain-matching algorithm. The simulation is completed in MATLAB. Repetitive simulations are pursued in this research to confirm the simplicity and effectiveness of our approach to control machines that interact with the natural environment. The simulation program established in this research serves as a test environment for the task based pose optimization of modular mobile manipulators. The major contributions of this research are the optimization algorithm and the novel hardware design for the specified tasks.

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Abou-Samah, Michel, and Venkat Krovi. "Decentralized Kinematic Control of a Cooperating System of Mobile Manipulators." In ASME 2002 International Mechanical Engineering Congress and Exposition. ASMEDC, 2002. http://dx.doi.org/10.1115/imece2002-32691.

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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 parallel to the base of the WMR. The composite multi-degree-of-freedom vehicle, formed by placing a common object on the end-effector of two (or more) such mobile manipulator systems, possesses the ability to accommodate relative positioning errors of the mobile bases as well as change its relative configuration. Particular attention is paid for the development of kinematic control schemes for mobile manipulators, which take into account the non-holonomic constraints of the base and the presence of passive joints in the manipulator system. The control scheme developed for the individual mobile manipulators is then adapted for the decentralized kinematic control of two mobile manipulators carrying a common object along a desired trajectory. Experimental evaluation of the performance of the resulting approach and the ability of the overall collaborating system to accommodate, detect and correct for relative positioning errors between the mobile platforms is also presented.

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Ryu, Ji-Chul, Vivek Sangwan, and Sunil K. Agrawal. "Differentially Flat Designs of Mobile Vehicles With Under-Actuated Manipulator Arms." In ASME 2007 International Mechanical Engineering Congress and Exposition. ASMEDC, 2007. http://dx.doi.org/10.1115/imece2007-43526.

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Differential flatness has been investigated in the context of mobile vehicles for planning and control of their motions. In these models, the wheels are considered to be non-slipping, i.e., the system dynamics is subject to non-holonomic constraints. If a manipulator arm is mounted on such a mobile vehicle, the dynamics becomes highly nonlinear due to the nonlinear coupling between the motions of the mobile vehicle and the manipulator arm. A challenging question is how to perform point-to-point motions of such a system in the state space of the mobile manipulator. If some of the actuators are absent in the mechanical arm, the mobile manipulator becomes under-actuated and consequently even harder to plan and control. This paper presents a methodology for design of mobile vehicles, mounted with under-actuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. In this paper, we show that by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of under-actuated designs are possible where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows to efficiently solve the problem of trajectory planning and feedback controller design for point to point motions of the system. The proposed method is illustrated by the example of a mobile vehicle with under-actuated three-link manipulator.

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Ghaffari, Ali, Ali Meghdari, Davood Naderi, and Sohrab Eslami. "Planning of Dynamic Compensation Manipulator Motions for Stability Enhancement of Mobile Manipulators by Soft Computing." In ASME 2006 International Mechanical Engineering Congress and Exposition. ASMEDC, 2006. http://dx.doi.org/10.1115/imece2006-14216.

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Mobile manipulators are developed in order to execute separately in various regions where there is not possibility for human to appear there. Recently, the size of mobile manipulators has been decreased according to their given tasks. For such systems, the stability issue is very important. The robot system should be able to keep itself in an optimal situation. For reaching to this goal, one can use a redundant degree of freedom for the mobile manipulator such that this redundancy makes it possible to recover the system's stability by dynamic compensatory motion of manipulator when the system is unstable. In this paper, we present an algorithm which is fast enough to stabilize the mobile manipulator with the best stability criterion based on a neural network and genetic algorithm which cooperate together. For applying the optimal values as the algorithm outputs to the appropriate joints, a PD controller is used. The significance of this algorithm is provided for a spatial mobile manipulator with a predefined trajectory of the end-effector and the vehicle.

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Reports on the topic "Mobile manipulator"

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Bostelman, Roger V., and Tsai Hong. Mobile manipulator stability measurements. Gaithersburg, MD: National Institute of Standards and Technology, April 2017. http://dx.doi.org/10.6028/nist.tn.1955.

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Bostelman, Roger, Ya-Shian Li-Baboud, Steve Legowik, Tsai Hong, and Sebti Foufou. Mobile manipulator performance measurement data. Gaithersburg, MD: National Institute of Standards and Technology, June 2017. http://dx.doi.org/10.6028/nist.tn.1965.

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Reister, D. B. Min-max redundancy resolution for a mobile manipulator. Office of Scientific and Technical Information (OSTI), February 1996. http://dx.doi.org/10.2172/231198.

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Bostelman, Roger, Ya-Shian Li-Baboud, Soocheol Yoon, Mili Shah, and Omar Aboul-Enein. Towards Measurement of Advanced Mobile Manipulator Performance for Assembly Applications. National Institute of Standards and Technology, August 2020. http://dx.doi.org/10.6028/nist.tn.2108.

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Bostelman, Roger V. Design and Application of the Reconfigurable Mobile Manipulator Artifact (RMMA). Gaithersburg, MD: National Institute of Standards and Technology, 2022. http://dx.doi.org/10.6028/nist.ams.100-46.

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Reister, D. B., M. A. Unseren, J. E. Baker, and F. G. Pin. Experimental investigations of sensor-based surface following performed by a mobile manipulator. Office of Scientific and Technical Information (OSTI), October 1994. http://dx.doi.org/10.2172/10104985.

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Reister, D. B. Using min-max of torque to resolve redundancy for a mobile manipulator. Office of Scientific and Technical Information (OSTI), November 1993. http://dx.doi.org/10.2172/10110752.

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Aboul-Enein, Omar, Roger Bostelman, Ya-Shian Li-Baboud, and Mili Shah. Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications. National Institute of Standards and Technology, November 2021. http://dx.doi.org/10.6028/nist.ams.100-45.

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Aboul-Enein, Omar. Performance Measurement of a Mobile Manipulator-on-a-Cart and Coordinate Registration Methods for Manufacturing Applications. Gaithersburg, MD: National Institute of Standards and Technology, 2022. http://dx.doi.org/10.6028/nist.ams.100-45r1.

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Deegan, Patrick, Bryan J. Thibodeau, and Roderic Grupen. Designing a Self-Stabilizing Robot for Dynamic Mobile Manipulation. Fort Belvoir, VA: Defense Technical Information Center, January 2006. http://dx.doi.org/10.21236/ada459932.

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