Latest Papers

ASME Journal of Mechanisms and Robotics

  • Dynamics of Mobile Manipulators Using Dual Quaternion Algebra
    on September 14, 2022 at 12:00 am

    AbstractThis article presents two approaches to obtain the dynamical equations of mobile manipulators using dual quaternion algebra. The first one is based on a general recursive Newton–Euler formulation and uses twists and wrenches, which are propagated through high-level algebraic operations and works for any type of joints and arbitrary parameterizations. The second approach is based on Gauss’s Principle of Least Constraint (GPLC) and includes arbitrary equality constraints. In addition to showing the connections of GPLC with Gibbs–Appell and Kane’s equations, we use it to model a nonholonomic mobile manipulator. Our current formulations are more general than their counterparts in the state of the art, although GPLC is more computationally expensive, and simulation results show that they are as accurate as the classic recursive Newton–Euler algorithm.

Vision-Based Control of a Mobile Manipulator With an Adaptable-Passive Suspension for Unstructured Environments


The kinematic design, development, and navigation control of a new autonomous mobile manipulator for unstructured terrain is presented in this work. An innovative suspension system is designed based on the kinematic synthesis of an adaptable, passive mechanism. This novel suspension can compensate for irregularities in the terrain by using two pairs of bogies joined by a crank-slider mechanism and facilitates the control of the robotic platform using video cameras. The mobile robot is also equipped with a robotic manipulator, of which a synthesis, simulation, and experimental validation are presented. Additionally, manipulation is accomplished during motion on rough terrain. The proposed mobile robot has been fabricated using additive manufacturing (AM) techniques. A vision-based control approach, from here on named mobile linear-camera space manipulation (MLCSM), for mobile manipulators has been synthesized and implemented to conduct experimental tests. This mobile manipulator has been designed to traverse uneven terrain so that the loading platform is kept close to horizontal while crossing obstacles up to one-third of the size of its wheels. This feature allows for the onboard cameras to stay oriented toward the target; it also allows for any device mounted on the payload platform to remain nearly horizontal during the task. The developed control approach allows us to estimate the position and orientation of the manipulator’s end effector and update its trajectory along the path toward the target. The experiments show a final precision for engagement of a pallet within +/−2.5 mm in position and +/−2 deg in orientation
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