Instantaneous kinematics and dexterity of mobile manipulators

Tchoń, Krzysztof; Muszyński, Robert

doi:10.1109/robot.2000.846403

Cited by 34 publications

(22 citation statements)

References 10 publications

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“…The research on mobile robots has intensified in the recent years, especially to meet the demand for automating the transport process and for inspection (chemically, biologically) of contaminated areas and those exposed to hazard of fire explosions (Tchoń et al, 2000;Trojnacki et al, 2008).…”

Section: Introductionmentioning

confidence: 99%

Modelling and simulation studies on the mobile robot with self-leveling chassis

Bałchanowski

2016

jtam

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The mobile robot presented in the article is a hybrid system combining efficient travel on wheels on a flat terrain with the capability of surmounting obstacles by walking. The research is focused on designing a control system maintaining the robot chassis at a constant position to the ground. The aims of this research are: creation of the computational model of the control system for the levelling system of designed mobile robots and realization of simulation studies on the robots travel in terrain with obstacles. The simulations aimed at determination of basic dynamic and kinematic properties.

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Section: Introductionmentioning

confidence: 99%

Modelling and simulation studies on the mobile robot with self-leveling chassis

Bałchanowski

2016

jtam

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“…A continuation method-based motion planning algorithm for convex rolling surfaces has been presented in [6]. A variation of the continuation method is the endogenous configuration space approach, originally dedicated to mobile manipulators, that explores systematically the analogies between stationary manipulators and mobile robotic systems [7,8]. The endogenous configuration space approach will be adopted as a leitmotif in this paper.…”

Section: Introductionmentioning

confidence: 99%

Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems

Ratajczak

Tchoń

2013

J Intell Robot Syst

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This paper addresses computational aspects of the Jacobian motion planning algorithms for non-holonomic robotic systems. The motion planning problem is formulated in terms of a control problem in the control affine system representing the system's kinematics. Jacobian motion planning algorithms are derived by means of the continuation (homotopy) method applied to the inverse kinematics problem in the space of control functions. The solution of the motion planning problem is obtained as the limit solution of a functional differential equation involving the control function. Two methods of representing the control functions are studied: parametric and non-parametric. The parametric method parametrizes the control functions by truncated orthogonal series. The non-parametric method can manage without the parametrization. The functional differential equation can be solved using either the Euler method of integration or higher order methods. The paper focuses on the nonparametric Jacobian pseudo inverse motion planning algorithms incorporating a higher order integration method. Performance of this algorithm is illustrated by the numeric solution of a motion planning problem for the rolling ball kinematics.

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“…Among the works on the modeling of a particular mobile manipulator, we can cite Yun (1994, 1997) and Tchoń and Muszyński (2000). There is a simple explanation for this.…”

Section: Introductionmentioning

confidence: 99%

Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

Bayle

Fourquet

Renaud

2003

The International Journal of Robotics Research

128

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We propose a systematic modeling of the nonholonomic mobile manipulators built from a robotic arm mounted on a wheeled mobile platform. We use the models derived to generalize the standard definition of manipulability to the case of mobile manipulators. The effects of mounting a robotic arm on a nonholonomic platform are shown through the analysis of the manipulability thus defined. Several applications are evoked, particularly applications to control. The optimization of criteria inherited from manipulability considerations are given to generate the controls of our system when its end effector motion is imposed.

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Instantaneous kinematics and dexterity of mobile manipulators

Cited by 34 publications

References 10 publications

Modelling and simulation studies on the mobile robot with self-leveling chassis

Modelling and simulation studies on the mobile robot with self-leveling chassis

Parametric and Non-parametric Jacobian Motion Planning for Non-holonomic Robotic Systems

Manipulability of Wheeled Mobile Manipulators: Application to Motion Generation

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