Relevant bibliographies by topics / Mobile manipulator / Dissertations / Theses
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Dissertations / Theses on the topic 'Mobile manipulator'

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Published: 4 June 2021
Last updated: 26 July 2025

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1

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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2

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
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3

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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<p> 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
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4

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 m
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5

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 c
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6

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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7

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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8

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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9

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 o
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10

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 ti
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11

Khan, Muhammad Aqib. "Design and control of a robotic system based on mobile robots and manipulator arms for picking in logistics warehouses." Thesis, Normandie, 2020. http://www.theses.fr/2020NORMLH31.

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La logistique consiste à stocker, déplacer et expédier des marchandises à des détaillants ou clients finaux tant en garantissant une gestion efficace des flux d’information sous-jacents. Les travaux menés durant cette thèse visent à automatiser le processus de préparation de commande sur palette en introduisant des robots manipulateurs mobiles dans les entrepôts logistiques, avec un double objectif : diminuer la pénibilité du travail et augmenter la productivité face à la croissance des volumes traités.Après un état de l’art exhaustif sur les robots manipulateurs mobiles, l’auteur met en œuvre
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12

McCaffrey, Edward Jacob. "Kinematic Analysis and Evaluation of Wheelchair Mounted Robotic Arms." [Tampa, Fla.] : University of South Florida, 2003. http://purl.fcla.edu/fcla/etd/SFE0000195.

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13

Melingui, Achille. "Modeling and control of a class of mobile omnidrive : Continuum manipulator robots, case of study Robotino XT." Thesis, Lille 1, 2014. http://www.theses.fr/2014LIL10072/document.

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Cette thèse s'intéresse à la modélisation et la commande d'une classe des manipulateurs mobiles continus, a savoir le Robotino XT. Ce dernier comporte un manipulateur bionique continu montée sur une plate-forme mobile omnidirectionnel appelée Robotino. Premièrement, en utilisant la logique floue de type-2 et le champ de potentiel artificiel, nous avons proposé un contrôleur hybride intelligent pour la navigation de la plate-forme mobile. Ensuite, une architecture de commande adaptative neuronale a été proposée pour le contrôle de la partie manipulatrice. Cette architecture comporte deux sous-c
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14

Konda, Sashi Kumar. "Design and testing of a marsupial/companion robot prototype for a powered wheelchair." [Tampa, Fla.] : University of South Florida, 2004. http://purl.fcla.edu/fcla/etd/SFE0000490.

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15

Wittenstein, Nikolaus Adrian. "Force Feedback for Reliable Robotic Door Opening." Thesis, Virginia Tech, 2015. http://hdl.handle.net/10919/56584.

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Opening a door is still a hard problem in robotics. Many robotic manipulators use open-loop position control to open doors, which reduces reusability and reliability in the face of slight differences or sensor errors. Many others use force feedback or impedance control but skip past the problem of grabbing the handle, which could lead to failures due to sensor errors. This research assumes that perception is faulty, and uses joint-level force feedback to probe the location of the door and its handle before attempting to open it. The resulting control strategy is at least 33% faster than the op
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16

Farelo, Fabian. "Task oriented simulation and control of a wheelchair mounted robotic arm." [Tampa, Fla] : University of South Florida, 2009. http://purl.fcla.edu/usf/dc/et/SFE0003294.

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17

LEFEVRE, ANNE. "Evita : un systeme de securite anti-collision pour un engin mobile utilisant une modelisation de l'environnement obtenue par apprentissage." Paris 6, 1987. http://www.theses.fr/1987PA066478.

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Presentation du systeme evita capable d'assister automatiquement l'operateur dans la prevention de toute forme de collision, en restant independant de la commande des engins. Le teleoperateur est averti de toute forme de danger par un signal d'alarme et peut connaitre l'etat du systeme a tout moment grace a la visualisation graphique couleur 3d
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18

Wei, Yan. "Planification et Suivi de Mouvement d’un Système de Manipulateur Mobile non-holonome à deux bras." Thesis, Ecole centrale de Lille, 2018. http://www.theses.fr/2018ECLI0004/document.

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Cette thèse se situe dans la planification et le suivi de mouvement d’un humanoïde mobile à deux bras. Premièrement, MDH est utilisé pour la modélisation cinématique. Afin de surmonter les insuffisances de la méthode d’Euler-Lagrange qui nécessitent des calculs d’énergie et ses dérivées partielles, la méthode de Kane est utilisée. En plus, la stabilité physique est analysée et un contrôleur est conçu. Deuxièmement, un algorithme avancée MaxiMin NSGA-II est proposée pour concevoir l’orientation et la position optimales de la plate-forme mobile (PB) et la configuration optimale du manipulateur s
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19

Šustek, David. "Konstrukce jednokolového mobilního robotu se schopností stání na místě." Master's thesis, Vysoké učení technické v Brně. Fakulta strojního inženýrství, 2020. http://www.nusl.cz/ntk/nusl-417725.

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The master thesis deals with the issue of a single-wheeled robot, especially its construction and movement in more difficult terrain with the possibility of collecting samples. A variant of the robot balanced by a pair of gyroscopes was chosen as the most suitable construction. The robot is able to move in a space with an inclination of up to 24° and is equipped with its own manipulator design.
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20

Skumsnes, Bjørn Heber. "Teleoperation of Mobile Robot Manipulators." Thesis, Norges teknisk-naturvitenskapelige universitet, Institutt for teknisk kybernetikk, 2012. http://urn.kb.se/resolve?urn=urn:nbn:no:ntnu:diva-18438.

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With ever cheaper and more versatile robots, the use of robotic systems in creases rapidly. Although robots are becoming more intelligent, the cognitive capabilities of humans can still not be matched. By combining the intelligence of a human operator with the strength, endurance and size of a robot, in addition to separating the robot and operator to avoid danger to the operator, the applications are innumerable. The use of an operator to remotely control a robot is often referred to as teleoperation.In a teleoperation system it is important to present the state of the robot and the remote en
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21

Pitts, David Thomas. "Dynamic analysis of mobile manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 1999. http://www.collectionscanada.ca/obj/s4/f2/dsk1/tape8/PQDD_0007/MQ45621.pdf.

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22

Allouche, Benyamine. "Modélisation et commande des robots : nouvelles approches basées sur les modèles Takagi-Sugeno." Thesis, Valenciennes, 2016. http://www.theses.fr/2016VALE0021/document.

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Chaque année, plus de 5 millions de personne à travers le monde deviennent hémiplégiques suite à un accident vasculaire cérébral. Ce soudain déficit neurologique conduit bien souvent à une perte partielle ou totale de la station debout et/ou à la perte de la capacité de déambulation. Dans l’optique de proposer de nouvelles solutions d’assistance situées entre le fauteuil roulant et le déambulateur, cette thèse s’inscrit dans le cadre du projet ANR TECSAN VHIPOD « véhicule individuel de transport en station debout auto-équilibrée pour personnes handicapées avec aide à la verticalisation ». Dans
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23

Mashali, Mustafa. "Kinematic Control of Redundant Mobile Manipulators." Scholar Commons, 2015. http://scholarcommons.usf.edu/etd/5989.

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A mobile manipulator is a robotic arm mounted on a robotic mobile platform. In such a system, the degrees of freedom of the mobile platform are combined with that of the manipulator. As a result, the workspace of the manipulator is substantially extended. A mobile manipulator has two trajectories: the end-effector trajectory and the mobile platform trajectory. Typically, the mobile platform trajectory is not defined and is determined through inverse kinematics. But in some applications it is important to follow a specified mobile platform trajectory. The main focus of this work is to determine
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24

Lopez, Damian Efrain. "Planification de saisie pour la manipulation d'objets par un robot autonome." Phd thesis, INSA de Toulouse, 2006. http://tel.archives-ouvertes.fr/tel-00134780.

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L'évolution autonome d'un robot dans un environnement évolutif nécessite qu'il soit doté de capacités de perception, d'action et de décision suffisantes pour réaliser la tâche assignée. Une tâche essentielle en robotique est la manipulation d'objets et d'outils. Elle intervient non seulement pour un robot seul mais également dans des situations d'interaction avec un humain ou un autre robot quand il s'agit d'échanger des objets ou de les manipuler conjointement. Cette thèse porte sur la planification de tâches de manipulation d'objets pour un robot autonome dans un environnement humain. Une ar
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25

Lopez, Damian Efrain. "Grasp planning for object manipulation by an autonomous robot." Toulouse, INSA, 2006. http://www.theses.fr/2006ISAT0009.

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L'évolution autonome d'un robot dans un environnement évolutif nécessite qu'il soit doté de capacités de perception, d'action et de décision suffisantes pour réaliser la tâche assignée. Une tâche essentielle en robotique est la manipulation d'objets et d'outils. Elle intervient non seulement pour un robot seul mais également dans des situations d'interaction avec un humain ou un autre robot quand il s'agit d'échanger des objets ou de les manipuler conjointement. Cette thèse porte sur la planification de tâches de manipulation d'objets pour un robot autonome dans un environnement humain. Une ar
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26

Lin, Sheng. "Robust and intelligent control of mobile manipulators." Thesis, National Library of Canada = Bibliothèque nationale du Canada, 2001. http://www.collectionscanada.ca/obj/s4/f2/dsk3/ftp05/NQ63711.pdf.

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27

Hootsmans, Norbert A. M. (Norbert Antony Murray). "The motion control manipulators on mobile vehicles." Thesis, Massachusetts Institute of Technology, 1992. http://hdl.handle.net/1721.1/13064.

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28

Issartel, Paul. "Nouvelles approches pour la portabilité, la non-intrusivité et l'accessibilité des interfaces de manipulation 3D." Thesis, Université Paris-Saclay (ComUE), 2017. http://www.theses.fr/2017SACLS077/document.

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Ce travail porte sur l'interaction avec des objets virtuels 3D, et plus particulièrement leur manipulation : sélection, translation et rotation. Les plates-formes les plus utilisées aujourd'hui pour ce type de tâche (ordinateur personnel et appareil mobile) ont été conçues avant tout pour l'interaction 2D, et sont donc peu adaptées à la manipulation 3D. Il existe pourtant une alternative plus efficace : les systèmes de réalité virtuelle. Cependant, les systèmes actuellement disponibles restent trop souvent encombrants, onéreux et/ou intrusifs pour l'utilisateur, et demeurent sous-utilisés pour
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Schuster, Micha. "Entwicklung und Modellierung einer vollaktuierten Drohne." Master's thesis, Saechsische Landesbibliothek- Staats- und Universitaetsbibliothek Dresden, 2018. http://nbn-resolving.de/urn:nbn:de:bsz:14-qucosa-236790.

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Diese Diplomarbeit beschäftigt sich mit der geometrischen Auslegung und Regelung einer vollaktuierten Drohne, die als fliegende Arbeitsplattform für einen Manipulator dienen soll. Dabei werden ausgehend von der geometrischen Beschreibung einer allgemeinen, symmetrischen Drohne mit sechs Rotoren Methoden entwickelt, die den anforderungsbezogenen Entwurf der Geometrie einer vollaktuierten Drohne ermöglichen. Darüber hinaus werden prinzipielle Einflussmechanismen einzelner Geometrieparameter auf die durch die Drohne erzeugbaren Kräfte und Momente aufgezeigt. Zur Charakterisierung des Raums aller
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30

Akbari, Aliakbar. "Combining task and motion planning for mobile manipulators." Doctoral thesis, Universitat Politècnica de Catalunya, 2020. http://hdl.handle.net/10803/668420.

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This thesis addresses the combination of task and motion planning which deals with different types of robotic manipulation problems. Manipulation problems are referred to as mobile manipulation, collaborative multiple mobile robots tasks, and even higher dimensional tasks (like bi-manual robots or mobile manipulators). Task and motion planning problems needs to obtain a geometrically feasible manipulation plan through symbolic and geometric search space. The combination of task and motion planning levels has emerged as a challenging issue as the failure leads robots to dead-end tasks due to ge
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31

Wang, Yu. "Cooperative Transportation of Mobile Manipulators With Collision Avoidance." Thesis, KTH, Reglerteknik, 2018. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-231841.

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In this work, we propose two Nonlinear Model Predictive Control(NMPC) schemes, Decentralized Nonlinear Model Predictive Control(DNMPC) and Centralized Nonlinear Model Predictive Control (CNMPC),for cooperative transportation of an object, which is rigidlygrasped by N agents. We use feedback linearization and model reductionto reduce overall complexity of the model. We also providea mathematical proof for feasibility and convergence of the schemes.Finally, we use simulations and experiments to validate the robustnessand efficiency of the proposed schemes.<br>I det här arbetet föreslår vi två sy
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32

Lang, Haoxiang. "Control of mobile manipulation with networked sensing." Thesis, University of British Columbia, 2012. http://hdl.handle.net/2429/43277.

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This thesis addresses the manipulation control of a mobile robot with the support of a sensor network, for carrying out dynamically challenging tasks. Such tasks are defined as those where the robot is required to first identify objects, approach and grasp the needed objects, and transport them to goal locations in an environment that is dynamic, unstructured and only partially known. In the present work, a robotic system with these capabilities is developed and implemented for use in tasks of search and rescue, and homecare robotics. To this end, this thesis makes significant original contrib
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33

Zhu, Charlotte. "Point cloud segmentation for mobile robot manipulation." Thesis, Massachusetts Institute of Technology, 2016. http://hdl.handle.net/1721.1/106400.

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Thesis: M. Eng., Massachusetts Institute of Technology, Department of Electrical Engineering and Computer Science, 2016.<br>This electronic version was submitted by the student author. The certified thesis is available in the Institute Archives and Special Collections.<br>Cataloged from student-submitted PDF version of thesis.<br>Includes bibliographical references (pages 47-48).<br>In this thesis, we develop a system for estimating a belief state for a scene over multiple observations of the scene. Given as input a sequence of observed RGB-D point clouds of a scene, a list of known objects i
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34

Ryu, Ji Chul. "Integrated planning and control of mobile manipulators and robots using differential flatness." Access to citation, abstract and download form provided by ProQuest Information and Learning Company; downloadable PDF file, 230 p, 2009. http://proquest.umi.com/pqdweb?did=1891582841&sid=1&Fmt=2&clientId=8331&RQT=309&VName=PQD.

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35

Mohy, El Dine Kamal. "Control of robotic mobile manipulators : application to civil engineering." Thesis, Université Clermont Auvergne‎ (2017-2020), 2019. http://www.theses.fr/2019CLFAC015/document.

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Malgré le progrès de l'automatisation industrielle, les solutions robotiques ne sont pas encore couramment utilisées dans le secteur du génie civil. Plus spécifiquement, les tâches de ponçage, telles que le désamiantage, sont toujours effectuées par des opérateurs humains utilisant des outils électriques et hydrauliques classiques. Cependant, avec la diminution du coût relatif des machines par rapport au travail humain et les réglementations sanitaires strictes applicables à des travaux aussi risqués, les robots deviennent progressivement des alternatives crédibles pour automatiser ces tâches
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36

Chiaravalli, Davide <1991&gt. "Haptic Control of Mobile Manipulators Interacting with the Environment." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2019. http://amsdottorato.unibo.it/8797/1/chiaravalli_davide_tesi.pdf.

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In the modern society the haptic control of robotic manipulators plays a central role in many industrial fields because of the improvement of human capabilities and the prevention of many hazards that it can provide. Many different studies are focusing on the improvement of the operator experience, aiming at simplifying the control interface and increasing the level of intuitiveness that the system can provide to a non-trained user. This work focus on the control of mobile manipulator platforms, that are gaining popularity in the industrial world because of their capability to merge the manip
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37

Wasik, Zbigniew. "A behavior-based control system for mobile manipulation /." Örebro : Örebro universitetsbibliotek, 2005. http://urn.kb.se/resolve?urn=urn:nbn:se:oru:diva-108.

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38

Ezequiel, Carlos Favis. "Real-Time Map Manipulation for Mobile Robot Navigation." Scholar Commons, 2013. http://scholarcommons.usf.edu/etd/4481.

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Mobile robots are gaining increased autonomy due to advances in sensor and computing technology. In their current form however, robots still lack algorithms for rapid perception of objects in a cluttered environment and can benefit from the assistance of a human operator. Further, fully autonomous systems will continue to be computationally expensive and costly for quite some time. Humans can visually assess objects and determine whether a certain path is traversable, but need not be involved in the low-level steering around any detected obstacles as is necessary in remote-controlled systems
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39

Mobley, Christopher James. "Multistage Localization for High Precision Mobile Manipulation Tasks." Thesis, Virginia Tech, 2017. http://hdl.handle.net/10919/75237.

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This paper will present a multistage localization approach for an autonomous industrial mobile manipulator (AIMM). This approach allows tasks with an operational scope outside the range of the robot's manipulator to be completed without having to recalibrate the position of the end-effector each time the robot's mobile base moves to another position. This is achieved by localizing the AIMM within its area of operation (AO) using adaptive Monte Carlo localization (AMCL), which relies on the fused odometry and sensor messages published by the robot, as well as a 2-D map of the AO, which is gener
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Chebab, Zine Elabidine. "Conception et commande collaborative de manipulateurs mobiles modulaires (C3M3)." Thesis, Université Clermont Auvergne‎ (2017-2020), 2018. http://www.theses.fr/2018CLFAC070/document.

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Dans un contexte d’Industrie 4.0, on perçoit de nouveaux usages possibles des manipulateurs mobiles (MMs), des robots généralement obtenus par l’association d’un bras manipulateur et d’une plate-forme mobile. Ce travail de thèse se focalise sur la synthèse et la commande de nouveaux MMs coopératifs en définissant trois défis à relever. Le premier défi concerne l’élargissement des domaines d’utilisation des robots par la possibilité de leur utilisation coopérative. Nous définissons ainsi un système robotique modulaire basé sur l’utilisation d’entités robotiques appelés mono-robots (m-bots). Ceu
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41

Liu, Yu Gang. "Kinematics, dynamics and intelligent control for nonholonomic mobile modular manipulators." Thesis, University of Macau, 2006. http://umaclib3.umac.mo/record=b1636567.

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42

Pepe, Alberto <1984&gt. "Haptic Device Design and Teleoperation Control Algorithms for Mobile Manipulators." Doctoral thesis, Alma Mater Studiorum - Università di Bologna, 2018. http://amsdottorato.unibo.it/8704/1/Tesi%20dottorato%20Alberto%20Pepe.pdf.

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The increasing need of teleoperated robotic systems implies more and more often to use, as slave devices, mobile platforms (terrestrial, aerial or underwater) with integrated manipulation capabilities, provided e.g. by robotic arms with proper grasping/manipulation tools. Despite this, the research activity in teleoperation of robotic systems has mainly focused on the control of either fixed-base manipulators or mobile robots, non considering the integration of these two types of systems in a single device. Such a combined robotic devices are usually referred to as mobile manipulators: systems
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43

Son, Changman. "Adding intelligence to the control of mobile manipulators a comparative study." Diss., Georgia Institute of Technology, 1997. http://hdl.handle.net/1853/13419.

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44

Chen, Tiffany L. "Haptic interaction between naive participants and mobile manipulators in the context of healthcare." Diss., Georgia Institute of Technology, 2014. http://hdl.handle.net/1853/51770.

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Human-scale mobile robots that manipulate objects (mobile manipulators) have the potential to perform a variety of useful roles in healthcare. Many promising roles for robots require physical contact with patients and caregivers, which is fraught with both psychological and physical implications. In this thesis, we used a human factors approach to evaluate system performance and participant responses when potential end users performed a healthcare task involving physical contact with a robot. We performed four human-robot interaction studies with 100 people who were not experts in robotics (na
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45

Perrier, Clotilde. "Génération de mouvements pour un manipulateur mobile non-holonome." Montpellier 2, 1998. http://www.theses.fr/1998MON20109.

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L'evolution de la robotique ces dernieres annees s'est tournee vers des systemes presentant a la fois des degres de mobilite et de manipulation. De tels systemes sont appeles manipulateurs mobiles. La tache a realiser dans le cadre de cette these est une tache de positionnement de l'extremite de l'effecteur, - en position et en orientation -, en vue de saisir un objet. Le systeme considere, compose d'une part d'un vehicule de type voiture presentant une contrainte de non-holonomie et d'autre part d'un bras manipulateur, est redondant par rapport a la tache a realiser. Deux approches de generat
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46

Chen, Mingwu. "Motion planning and control of mobile manipulators using soft computing techniques." Thesis, University of Sheffield, 1997. http://ethos.bl.uk/OrderDetails.do?uin=uk.bl.ethos.266128.

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Wang, Yuquan. "Reactive control and coordination of redundant robotic systems." Doctoral thesis, KTH, Datorseende och robotik, CVAP, 2016. http://urn.kb.se/resolve?urn=urn:nbn:se:kth:diva-182680.

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Redundant robotic systems, in terms of manipulators with one or twoarms, mobile manipulators, and multi-agent systems, have received an in-creasing amount of attention in recent years. In this thesis we describe severalways to improve robotic system performance by exploiting the redundancy. As the robot workspace becomes increasingly dynamic, it is common towork with imperfect geometric models of the robots or its workspace. Inorder to control the robot in a robust way in the presence of geometric uncer-tainties, we propose to assess the stability of our controller with respect to acertain tas
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Mestiri, Youssef. "Mobile manipulator robot: omni 3 wheels manipulator robot." Master's thesis, 2022. http://hdl.handle.net/10198/25146.

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Mestrado de dupla diplomação com a Université Libre de Tunis<br>Robots are electromechanical machines having ability to perform tasks or actions on some given electronic programming. While Omni directional mobile robots have been popularly used in several applications since they can respond more quickly and it would be capable of more sophistication. A robotic arm is a type of mechanical arm, usually programmable, with similar functions to a human arm; the arm may be the sum total of the mechanism or may be part of a more complex robot. This work proposes to design and create a model of
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Yeh, Chung-Hsien, and 葉忠憲. "Grasping Control of a Mobile Manipulator." Thesis, 2006. http://ndltd.ncl.edu.tw/handle/63833341203374280586.

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碩士<br>國立交通大學<br>電機與控制工程系所<br>94<br>The objective of this study is to design a grasping controller for a mobile manipulator. By controlling the velocity of the mobile robot and the 2-DOF robot arm simultaneously, the grasping of an object is realized. A visual servo controller has been realized by adopting the concept of image Jacobian, and the Jacobian of mobile manipulator and camera. This controller determines the robot body and robot arm’s velocity commands. We define the corners of the target image as the feature points which will be the input of visual servo controller. An embedded vision
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Tsai, Yueh-Shiuan, and 蔡岳軒. "Adaptive motion control in simultaneous actions of mobile platform and robot manipulator for mobile manipulation applications." Thesis, 2016. http://ndltd.ncl.edu.tw/handle/75189751879947702944.

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碩士<br>國立臺灣大學<br>電機工程學研究所<br>104<br>Mobile manipulation robots can provide an extended workspace of applications comparing to standard fixed-base manipulators. A mobile platform cannot always guarantee the accuracy of an end-effector task even attached with a highly precise ma-nipulator. The accuracy of the manipulator is greatly relied on the stability of the mo-bile platform. It is necessary to consider the relationship between the mobile platform and the manipulator. In this thesis, we discuss two main sources of errors caused insta-bility and find the solutions to resolve these: 1) the slip
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