Material handling of a mobile manipulator using an eye-in-hand vision system

Whole-Body Control on Non-holonomic Mobile Manipulation for Grapevine Winter Pruning Automation

“…Finally, the dynamic motion of no-holonomic mobile manipulator with respect to ξ and ξ can be reformulated by removing the generalized constrains, Λ(q) T λ, in (9) by using (6) and combining (9) and time derivative of (6), as follow: where M ξ (q) = S(q) T M (q)S(q) V ξ (q, q) = S(q) T [M (q) Ṡ(q) + C(q, q)S(q)] G ξ = S(q) T G(q) u = S(q) T B(q)τ.…”

“…This combined, more complex structure creates motion planning and control issues due to the high redundancy and versatility of mobile platform [8]. Previously, the mobile base and manipulator could be considered to be two separate subsystems [9]- [12]. Wrock et al created an automatic switching scheme that used teleoperation methods to achieve decoupled mobile manipulator motion.…”

Study on dynamic modelling and vibration analysis of single-link flexible manipulator

“…Therefore, various control methods are used for reducing endpoint vibrations and trajectory tracking of robot manipulators. Various control methods such as feedforward compensation control (Abou Elyazed et al, 2016), proportional-integration-derivative (PID) control (Mailah et al, 2005), Sliding-Mode controller (Ansari-Rad et al, 2019;Azmoun et al, 2019), adaptive control (Boukattaya et al, 2011), and advance control methods (Hirukawa et al, 2007;Lavretsky & Wise, 2013;Tsay et al, 2010) have been reported to be applied in robot manipulators. In order to increase the applicability of the control method to the system, the accuracy of the dynamic model of the system is important for experimental and analytical validation.…”