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Cable robots form a class of parallel architecture robots with significant benefits including simplicity of construction, large workspace, significant payload capacity and end effector stiffness. While conventional cable robots have fixed bases, we seek to explore inclusion of mobility into the bases (in the form of gantries, and/or vehicle bases) which can significantly further enhance the capabilities...
This paper presents a differential-flatness-based integrated point-to-point trajectory planning and control method for a class of nonholonomic wheeled mobile manipulator (WMM). We demonstrate that its kinematic model possesses a feedback-linearizable description due to the flatness property, which allows for full-state controllability. Trajectory planning can then be simplified and achieved by polynomial...
This paper presents an analytical method for quantitative performance analysis and configuration optimization for the cooperation of multiple nonholonomic mobile manipulators to transport a common object. The major challenge of such cooperation comes from the requirement of tight physical interactions between the robotic agents through a payload. The cooperation as a mobile constrained articulation...
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