The paper considers the problem of motion planning and posture control of multiple n-link
doubly nonholonomic mobile manipulators in an obstacle-cluttered and bounded …

A mobile manipulator is a robotic system made up of two components; a mobile platform and
a manipulator mounted on the platform equipped with non-deformable wheels. Such a …

In this paper a general solution to the path following problem for mobile manipulators with
non-holonomic mobile platform has been presented. New proposed control algorithms—for …

This paper describes the problem of designing control laws for path following robots,
including two types of nonholonomic mobile manipulators. Due to a cascade structure of the …

On the basis of a geometric characterization of repeatability we present a repeatable
extended Jacobian inverse kinematics algorithm for mobile manipulators. The algorithm's …

This paper considers a problem of tracking control design for different types of
nonholonomic mobile manipulators. The mobile platform is in form of a unicycle. In the first …

A tool for path following for a mobile manipulator is herein presented. The control algorithm
is obtained by projecting a local frame associated with the robot onto the desired path, thus …

In this paper a Pfaff matrix for doubly generalized N-trailer systems is derived when not only
lateral, as in generalized N-trailer systems, but also longitudinal constraints are respected …

Based on the concept of endogenous configuration space we derive an extended Jacobian
inverse kinematics algorithm for doubly nonholonomic mobile manipulators, ie mobile …

In the paper we present new control algorithms for a special class of mobile manipulators,
namely for nonholonomic mobile manipulators. A mobile manipulator is defined as a robotic …