Mobile manipulators combine the advantages of mobile platforms and robotic arms, extending their operational range and functionality to large spaces and remote, demanding, and/or dangerous environments. They also bring complexity and difficulty in dynamic modeling and control system design. However, advances in nonlinear system analysis and control
Introduction: Mobile Manipulator Systems. Background and Motivations. Outline of the Book. Kinematics and Dynamics: Introduction. Kinematics of Mobile Platform. Kinematics of Robotic Manipulators. Dynamics of Mobile Manipulators. Dynamics in Cartesian Space. Conclusion. Path Planning and Motion Generation: Path Planning of Mobile Manipulators. Path Planning of Coordinated Mobile Manipulators. Conclusion. Model-Based Control: Introduction. System Description. Model Reference Control. Simulation Studies. Conclusion. Adaptive Robust Hybrid Motion/Force Control: Adaptive Robust Hybrid Motion/Force Control. Adaptive Robust Output-feedback Control with Actuator Dynamics. Adaptive Robust Hybrid Position/Force Control. Conclusion. Under-actuated Control: Introduction. System Description. High-gain Observer. Adaptive Output Feedback Control. Simulation Studies. Conclusion. Coordination Control: Centralized Coordination Control. Decentralized Coordination. Conclusion. Cooperation Control: Introduction. Description of Interconnected System. Centralized Robust Adaptive Controls Design. Simulation Studies. Conclusion. Appendix: Example of 2-DOF Wheeled Mobile Manipulator. Example of 3-DOF Mobile Manipulator. Bibliography. Index.