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

chapter 1|16 pages


chapter 2|24 pages

Kinematics and Dynamics

chapter 3|40 pages

Path Planning and Motion Generation

chapter 4|12 pages

Model-Based Control

chapter 6|26 pages

Chaper 6:Under-actuated Control

chapter 7|44 pages

Coordination Control

chapter 8|30 pages

Cooperation Control

chapter 9|14 pages