The motions of mechanisms can be described in terms of screw coordinates by means of an
exponential mapping. The product of exponentials (POE) describes the configuration of a …

Mobile manipulators that combine base mobility with the dexterity of an articulated
manipulator have gained popularity in numerous applications ranging from manufacturing …

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 address efficiently and robustly collecting objects stored in different trays
using a mobile manipulator. A resolution complete method, based on precomputed …

This paper presents a unified motion controller for mobile manipulators which not only
solves the problems of point stabilization and trajectory tracking but also the path following …

A resolved acceleration control (RAC) and proportional-integral active force control (PIAFC)
is proposed as an approach for the robust motion control of a mobile manipulator (MM) …

Robotic interventions in hazardous scenarios need to pay special attention to safety, as in
most cases it is necessary to have an expert operator in the loop. Moreover, the use of a …

We consider nonholonomic mobile manipulators built from an na joint robotic arm and a
nonholonomic mobile platform with two independently driven wheels. Actually, there is no …

This paper presents the solution at the control feedback level to the inverse kinematics
problem for mobile manipulators operating in both obstacle-free task spaces and task …

In this paper an image-based dynamic visual feedback control for mobile manipulators is
presented to solve the target tracking problem in the 3D-workspace. The design of the whole …