This work presents a method to generate optimal trajectories for redundant mobile manipulators based on a weighted function that considers simultaneously joint torques, manipulability and preferred joint angle references. ...

Abstract: A mobile manipulator is a robotic arm mounted on a mobile robot; a particular example is a manipulator arm on a mobile robot with differential traction. Mobile manipulators have many advantages over stationary ...

Robotics solutions properly sized with suitable modularized structure and well adapted to local conditions of dangerous unstructured areas can greatly improve the safety of personnel as well as the work efficiency, ...

This paper proposes a control scheme for a stable teleoperation of non-holonomic mobile manipulator robots. This configuration presents high-coupled dynamics and motion redundancy. The problem approached in this work is ...

For human-robot-interaction, this work proposes a method for monitoring the complex, dynamic environment of the robot. The robot motion is controlled based on the concept of nonlinear model predictive control. The controller ...

This paper presents the implementation of a mobile service robot with a manipulator and a navigation stack to interact and move through an environment providing a delivery type service. The implementation uses a LiDAR ...

This paper presents a novel strategy for delayed bilateral teleoperation of mobile manipulator robots. The strategy is based on the hypothesis that if the slave robot behaves similarly as the operator would do to the same ...

This paper addresses the problem of visual dynamic control based on passivity to solve the target tracking problem of mobile manipulators with eyes-in-hand configuration in the 3D-workspace. The redundancy of the system ...