A differentiable dynamic modeling approach to integrated motion planning and actuator physical design for mobile manipulators

Z Lu, Y Wang - Journal of Field Robotics, 2025 - Wiley Online Library
This paper investigates the differentiable dynamic modeling of mobile manipulators to
facilitate efficient motion planning and physical design of actuators, where the actuator …

A novel recursive formulation for dynamic modeling and trajectory tracking control of multi-rigid-link robotic manipulators mounted on a mobile platform

AM Shafei, H Mirzaeinejad - … , Part I: Journal of Systems and …, 2021 - journals.sagepub.com
This article establishes an innovative and general approach for the dynamic modeling and
trajectory tracking control of a serial robotic manipulator with n-rigid links connected by …

Neural network-based cooperative trajectory tracking control for a mobile dual flexible manipulator

S Zhang, Y Wu, X He, J Wang - IEEE Transactions on Neural …, 2022 - ieeexplore.ieee.org
For a mobile dual flexible manipulator (MDFM) system, this article focuses on the problem of
cooperative trajectory tracking under unknown dynamics and time-varying trajectories. The …

Model-based robust servo control for permanent magnet synchronous motor with inequality constraint

SB Sun, SC Zhen, XL Liu, HY Zhong… - Measurement Science …, 2023 - iopscience.iop.org
Based on the dynamic model, a robust constrained control method for permanent magnet
synchronous motor (PMSM) is proposed in this paper to achieve better trajectory tracking …

Robust tracking control of a three-degree-of-freedom robot manipulator with disturbances using an integral sliding mode controller

I Ali, M Hassan, Z Bano, Z Chunwei - International Journal of Intelligent …, 2024 - Springer
Robot systems often face highly nonlinear manipulator dynamics and uncertainties such as
external disturbances, payload variations, and end effector modeling errors. Therefore, it is …

Kinematic Modeling and Trajectory Tracking of Two-wheeled Mobile Robot Manipulators at the Acceleration Level

N Cang, Q Li, K Shi, D Guo, Z Zhang, Y Shen… - IEEE …, 2024 - ieeexplore.ieee.org
Traditional coordinated motion planning schemes for mobile robot manipulators are
primarily designed at the velocity level, which limits their applicability to acceleration …

Implementation of a robust data-driven control approach for an ommi-directional mobile manipulator based on koopman operator

X Zhu, C Ding, C Ren, T Zhang… - Measurement and …, 2022 - journals.sagepub.com
The dynamic modeling and control of omni-directional mobile manipulators (OMM) are
challenging since they are highly nonlinear, strongly coupled, and multi-input multi-output …

Trajectory Tracking Control of a Mobile Manipulator Mounted on an Unmanned Surface Vehicle

T Pan, MJ Er, Y Chen, Z Li - 2021 4th International Conference …, 2021 - ieeexplore.ieee.org
In this paper, a novel approach for trajectory tracking of a mobile manipulator mounted on an
unmanned surface vehicle (USV) is proposed. The main contributions of the paper are as …

Analysis of collision stability of wheeled mobile robots in flexible operating environments

Y Li, C Li, Y Li, Y Hao, Z Sun, F Zhang - Proceedings of the 2024 3rd …, 2024 - dl.acm.org
This research focuses on the transient dynamic stability evaluation criteria for wheeled
mobile manipulators and presents a dynamic model of wheeled mobile platforms based on …