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 …

In this paper we present an approach to decoupled force/position control of the end-effector
along the same direction for redundant robots, and an approach to nonholonomic cart …

We consider robotic systems made of a nonholonomic mobile platform carrying a
manipulator (nonholonomic mobile manipulator, NMM). By combining the manipulator …

The present paper aims to design an integrated kinematic/dynamic-based tracking controller
for wheeled mobile robots (WMRs) considering motors' dynamics. By defining a reference …

A learning framework is proposed to solve the inverse kinematic problems of a highly
redundant mobile manipulator designed to traverse on rough terrains. The problem is not …

This paper addresses the coordination and control of a wheeled mobile manipulator (WMM)
using artificial immune system. The aim of the developed methodology is to navigate the …

Safety and reliability are significant in the sense of robotic machining for large-scale
workpieces. In this article, a control scheme is proposed to ensure the safe motion of the …

A general framework for the feedback control of mobile manipulators is proposed. Its main
originality lies in its capacity to address in a unified manner both cases of omnidirectional …

In this paper, a non-linear model predictive control of a mobile manipulator, consisting of a
differential-drive mobile base and a 6 DOF arm, is presented. A novel approach to solve the …

We consider the task-oriented modeling of the differential kinematics of nonholonomic
mobile manipulators (NMMs). A suitable NMM Jacobian is defined that relates the available …