Motion planning for kinematic redundancy is an area of great importance for maximizing the
mobility of robotic systems. However, generating optimized motions for this type of system is …

This paper presents a novel approach to generate desired periodic motions for torque-
driven fully actuated mechanical systems. The proposed scheme is based on a recent …

To automate the welding of multiple industrial parts that are too large for conveyor belts, we
designed a mobile manipulator to perform welding around large parts and move between …

This paper studies a path planning and following control for a 4-DOF (degree of freedom)
robotic manipulator. A critical question arising in practice is to achieve acceptable transient …

In this paper, a nonlinear model predictive control (NMPC) scheme is proposed for the path
following and terminal force control of manipulators, where not only the precise following of …

This paper considers a resolved kinematic motion control approach for controlling a spatial
serial manipulator arm that is mounted on a vehicle base. The end-effector's motion of the …

Building an effective cyber-physical system is difficult due to the overall complexity of
technologies on their own, challenges with the interaction between all parts of workflow and …

This work documents the development of several major components for an autonomous
mobile manipulator. The first part of the paper at hand is concerned with modeling and …