Dynamic modeling and control of deformable linear objects for single-arm and dual-arm robot manipulations
Robotic manipulation of deformable linear objects (DLOs) is important in many applications
such as the assembly of deformable wire harnesses and cables in manufacturing. Despite …
such as the assembly of deformable wire harnesses and cables in manufacturing. Despite …
Enhancement of force exertion capability of a mobile manipulator by kinematic reconfiguration
With the increasing applications of wheeled mobile manipulators (WMMs), new challenges
have arisen in terms of executing high-force tasks while maintaining precise trajectory …
have arisen in terms of executing high-force tasks while maintaining precise trajectory …
An adaptive multi-objective motion distribution framework for wheeled mobile manipulators via null-space exploration
Wheeled mobile manipulators (WMMs) are primarily composed of a manipulator and a
mobile base, which lead to their agility, maneuverability, and mobility. Despite impressive …
mobile base, which lead to their agility, maneuverability, and mobility. Despite impressive …
Enhancing kinematic accuracy of redundant wheeled mobile manipulators via adaptive motion planning
An increasing demand for wheeled mobile manipulators (WMMs) in fields that require high
precision tasks has introduced new requirements as far as their kinematic accuracy. A WMM …
precision tasks has introduced new requirements as far as their kinematic accuracy. A WMM …
Use of human gestures for controlling a mobile robot via adaptive cmac network and fuzzy logic controller
Mobile robots with manipulators have been more and more commonly applied in extreme
and hostile environments to assist or even replace human operators for complex tasks. In …
and hostile environments to assist or even replace human operators for complex tasks. In …
Manipulability Enhancement of Legged Manipulators by Adaptive Motion Distribution
A **e, T Chen, G Zhang, Y Li… - IEEE Transactions on …, 2024 - ieeexplore.ieee.org
Legged manipulators are increasingly prevalent across diverse application domains due to
their capacity to maintain manipulability and seamlessly navigate unstructured …
their capacity to maintain manipulability and seamlessly navigate unstructured …
Motion planning of nonholonomic mobile manipulators with manipulability maximization considering joints physical constraints and self-collision avoidance
J Leoro, T Hsiao - Applied Sciences, 2021 - mdpi.com
The motion of nonholonomic mobile manipulators (NMMs) is inherently constrained by joint
limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms …
limits, joint velocity limits, self-collisions and singularities. Most motion planning algorithms …
Coordinated control of flexible cables with human-like dual manipulators
Due to the flexibility and high degrees-of-freedom of flexible cables, their dynamic modeling
and precise control are challenging. In this paper, the dynamic modeling and control of …
and precise control are challenging. In this paper, the dynamic modeling and control of …
Motion-Tracking Control of Mobile Manipulation Robotic Systems Using Artificial Neural Networks for Manufacturing Applications
Robotic systems have experienced exponential growth in their utilization for manufacturing
applications over recent decades. Control systems responsible for executing desired robot …
applications over recent decades. Control systems responsible for executing desired robot …
Reactive mobile manipulation based on dynamic dual-trajectory tracking
The letter presents an online obstacle avoidance strategy for a nonholonomic mobile
manipulator, including dual-trajectory generation for the mobile base (MB) and end effector …
manipulator, including dual-trajectory generation for the mobile base (MB) and end effector …