Collision-free control of mobile manipulators in a task space

Brockett, 1983, Asymptotic stability and feedback stabilization, vol. 27, 181 Bloch, 1992, Control and stabilization of nonholonomic dynamic systems, IEEE Trans. Autom. Control, 37, 1746, 10.1109/9.173144 Bayle, 2001, Manipulability analysis for mobile manipulators, 1251 Bayle, 2003, Manipulability of wheeled mobile manipulators: application to motion generation, Int. J. Robotics Res., 22, 565, 10.1177/02783649030227007 Seraji, 1998, A unified approach to motion control of mobile manipulators, Int. J. Robotics Res., 17, 107, 10.1177/027836499801700201 Tchon, 2003, Endogenous configuration space approach to mobile manipulators: a derivation and performance assessment of Jacobian inverse kinematics algorithms, Int. J. Control, 76, 1387, 10.1080/0020717031000149942 Galicki, 2003, Inverse kinematics solution to mobile manipulators, Int. J. Robotics Res., 22, 10.1177/0278364903022012004 Galicki, 2005, Control-based solution to inverse kinematics for mobile manipulators using penalty functions, J. Intelligent Robotic Syst., 42, 213, 10.1007/s10846-004-7196-9 Egerstedt, 2000, Coordinated trajectory following for mobile manipulation, 3479 Fruchard, 2006, A framework for the control of nonholonomic mobile manipulators, Int. J. Robotics Res., 25, 745, 10.1177/0278364906068374 Desai, 1997, Nonholonomic motion planning for multiple mobile manipulators, 3409 Mohri, 2001, Sub-optimal planning of mobile manipulator, 1271 Huang, 2000, Coordinated motion planning for a mobile manipulator considering stability and manipulation, Int. J. Robotics Res., 19, 732, 10.1177/02783640022067139 Hootsmans, 1991, Large motion control of mobile manipulators including vehicle suspension characteristics, 2336 Liu, 1992, Control of mobile robot with onboard manipulator, 539 Yamamoto, 1994, Coordinating locomotion and manipulation of a mobile manipulator, IEEE Trans. Autom. Control, 39, 1326, 10.1109/9.293207 Yamamoto, 1996, Effect of the dynamic interaction on coordinated control of mobile manipulators, IEEE Trans. Robotics Autom., 12, 816, 10.1109/70.538986 Yamamoto, 1999, Unified analysis on mobility and manipulability of mobile manipulators, 1200 C.S. Tzafestas, S.G. Tzafestas, Full-state modelling, motion planning and control of mobile manipulators, in: Studies in Informatics and Control, vol. 10 (2), 2001. Chung, 1998, Interaction control of a redundant mobile manipulator, Int. J. Robotics Res., 17, 1302, 10.1177/027836499801701203 Chung, 1999, Robust interaction control of a mobile manipulator—dynamic model based coordination, J. Intelligent Robotics Syst., 26, 47, 10.1023/A:1008130606534 Mazur, 2002, New approach to the control problem of mobile manipulators, 297 S. Lin, A.A. Goldenberg, Robust damping control of mobile manipulators, IEEE Trans. Syst. Man Cybern. (2002) 1–6. V. Padois, J.-Y. Fourquet, P. Chiron, Kinematic and dynamic model-based control of wheeled mobile manipulators: a unified framework for reactive approaches, Robotica (2007) 1–17. Tan, 2003, Integrated task planning and control for mobile robots, Int. J. Robotics Res., 22, 337, 10.1177/0278364903022005004 Mailah, 2005, Robust motion control for mobile manipulator using resolved acceleration and proportional–integral active force control, Int. J. Adv. Robotic Syst., 2, 125 An, 1988 Renders, 1991, Kinematic calibration and geometrical parameter identification for robots, IEEE RA, 7, 721 Lewis, 1993 Gilbert, 1985, Distance functions and their application to robot path planning, IEEE J. Robotics Autom., 1, 21, 10.1109/JRA.1985.1087003 Khatib, 1986, Real-time obstacle avoidance for manipulators and mobile manipulators, Int. J. Robotics Res., 5, 90, 10.1177/027836498600500106 Krstic, 1995 Shevitz, 1994, Lyapunov stability theory of nonsmooth systems, IEEE Trans. Autom. Control, 30, 1910, 10.1109/9.317122