By following the pseudoinverse-type formulation, a corresponding quadratic program (QP)-
based rough manipulability-maximizing (RoMM) scheme is obtained. In consideration of the …

This paper presents a nonlinear model predictive controller to follow desired 3D trajectories
with the end effector of an unmanned aerial manipulator (ie, a multirotor with a serial arm …

Introduces a revolutionary, quadratic-programming based approach to solving long-standing
problems in motion planning and control of redundant manipulators This book describes a …

In this paper, a trajectory generation approach using quadratic programming is described for
aerial manipulation, ie, for the control of an aerial vehicle equipped with a robot arm. The …

Articulated robots such as manipulators increasingly must operate in uncertain and dynamic
environments where interaction (with human coworkers, for example) is necessary. In these …

Redundant manipulators can accomplish complex tasks due to the redundant degree of
freedom (DOF). At the same time, their kinematics calculations are complicated. In this study …

Mobile manipulator robotic systems (MMRSs) composed of a manipulator and a mobile
platform are investigated in this paper. In order for the mobile manipulator robotic system …

Conclusion This study presents a robot teleoperation system for precise assembly tasks in
unstructured environments. To enhance the robots' flexibility, adaptability and safety, an …

One of the principal challenges in motion planning for robotic arms is to ensure agility in the
case of encountering unforeseeable changes during task execution. It is thus crucial to …

The ability to fly has greatly expanded the possibilities for robots to perform surveillance,
inspection, or map generation tasks. Yet, it was only in recent years that research in aerial …