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This paper proposes a hybrid control algorithm for mobile manipulation subject to joint-space constraints. More specifically, we consider the problem of making the end-effector of a planar manipulator attached to a nonholonomic mobile platform reach a set-point or equivalently follow a given path in workspace by means of kinematic actuation. A switched control strategy allows the robot to avoid singular...
This paper considers a tracking problem for three manipulators grasping a rigid object. The control objective is to coordinate the movements of the manipulators using local information in order to align the object attitude with a desired rest attitude and the object position with a time parameterized reference trajectory. The object rigidity is modelled as a constraint on the motion of the end-effectors...
This paper proposes a local information based control law in order to solve the planar manipulation problem of rotating a grasped rigid object to a desired orientation using multiple mobile manipulators. We adopt a multi-agent systems theory approach and assume that: (i) the manipulators (agents) are capable of sensing the relative position to their neighbors at discrete time instances, (ii) neighboring...
In this paper we consider a trajectory tracking control problem for a multi-agent formation consisting of three agents. The agents provide a high level representation of three manipulators that have grasped a rigid object. More precisely, the agents' positions represent the end-effectors' grasp points. The agents are modelled by single integrators, and are designed to move the object such that it...
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