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This paper presents three effective manipulation strategies for wheeled, dynamically balancing robots with articulated links. By comparing these strategies through analysis, simulation and robot experiments, we show that contact placement and body posture have a significant impact on the robot's ability to accelerate and displace environment objects. Given object geometry and friction parameters we...
This paper addresses a time-optimal manipulator control strategy of a free-floating space robot with constraint on reaction torque induced by the manipulator motion. When a manipulator of a space robot is controlled, rotational motion of the base body is induced by the reaction torque. Assuming that reaction wheels are used to cancel the reaction and to stabilize the base attitude, the torque limitation...
In most of industrial applications such as factory automation, a mobile manipulator has been used in a flat plane without slope. From a practical point of view, however, it is important to deal with various conditions of the poor surface to increase the reliability and the flexibility of the locomotion. Then the mobile robot is applicable to the workspace with unknown environment. With recent advances...
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