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In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based on compliant control, which makes the control...
This paper presents a particle swarm optimization (PSO) algorithm for optimal configurations of an omnidirectional mobile robot with a five-link robotic arm. Although the mobile robot agilely maneuvers from one pose to another and easily performs some kinds of tasks, the inverse kinematics problem of the overall system is redundant. This efficient PSO algorithm is proposed to search for the global...
A mobile manipulator service robot comprising a mobile platform with a three-link arm mounted on top of the platform is considered. A torque compensation control approach is proposed for the robust motion control of the robot. Considering the coupling disturbance between the platform and the manipulator, the nominal model of service robot is built, applying computed torque and proportion-differential...
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