The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
This paper discusses how mobile manipulators with an under-actuated vertical arm can be designed to be differentially flat. The property of differential flatness is achieved by appropriate inertia redistribution of the vertical arm and a wide range of under-actuation becomes possible. As a result of having the flatness property, the under-actuated mobile manipulators are capable of executing point-to-point...
This paper addresses the direct kinematics of a special class of the 6-6 SPS Stewart manipulators whose the mobile and base platforms are two dissimilar semisymmetrical hexagons. After proposing a mathematical model of the direct kinematic problem of this class of the Stewart manipulators, a multivariate polynomial equations set with respect to the mobile platform position parameters and orientation...
Two wheel mobile manipulator has the potential to become multi-skilled robot in the field of robotics engineering and it is already implemented by using inverted pendulum control. Centre of gravity position is controlled to achieve the balancing of robot. Due to the unbalanced nature and the nonholonomic property of the two-wheel mobile manipulator, balancing is challenging task. On the other hand...
This paper describes the control scheme for wheelchair pushing operation considering high tracking performance and ride quality using mobile manipulator. The mobile manipulator has both mobility of the mobile platform and manipulability of the multijoint arms, so it can perform many works. Therefore, it is very effective for work in human environments. This research aims at pushing wheelchairs using...
General Stewart-Gough manipulator robot is a six degree of freedom, parallel manipulator, which consists of a base platform, a mobile platform and six limbs connected at six distinct points on the base platform and the mobile platform respectively. The direct position analysis problem of General Stewart-Gough manipulator relates to the determination of the mobile platform pose for a given set of the...
This paper proposes a sliding mode control approach for a wheeled mobile manipulator. The wheeled mobile manipulator composed of a four-wheeled mobile platform and a three-degree of freedom onboard manipulator. The dynamic models are established and the sliding mode control methods are employed. The entire control system is decomposed into two subsystems, including the sliding mode control of the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.