Energy-Optimal Trajectory Planning for Planar UnderactuatedRRRobot Manipulators in the Absence of Gravity
نویسندگان
چکیده
منابع مشابه
Energy-Optimal Trajectory Planning for Planar Underactuated RR Robot Manipulators in the Absence of Gravity
and Applied Analysis 3
متن کاملOptimal Integration of Gravity in Trajectory Planning of Vertical Pointing
1 2 Optimal Integration of Gravity in Trajectory Planning of Vertical Pointing 3 Movements 4 5 6 7 Frédéric Crevecoeur, Jean-Louis Thonnard, Philippe Lefèvre 8 9 10 11 1 Center for Systems Engineering and Applied Mechanics, Université catholique de Louvain, 12 2 Rehabilitation and Physical Medicine Unit, Université catholique de Louvain, 13 3 Laboratory of Neurophysiology, Université catholique...
متن کاملoptimal trajectory planning for flexible mobile manipulators under large deformation using meta-heuristic optimization methods
in present paper, a point to point optimal path is planned for a mobile manipulator with flexible links and joints. for this purpose, a perfect dynamic modeling is performed for mobile manipulators considering large deformation in links, shear effects, elastic joints, effect of gravitation, and non-holonomic constraints. to study large deformation of links, non-linear relation of displacement-s...
متن کاملa novel method for trajectory planning of cooperative mobile manipulators
we design a two-stage scheme to consider trajectory planning problem of two mobile manipulators for cooperative transportation of a rigid body in presence of static obstacles. within the first stage, regarding the static obstacles we develop a method that searches the workspace for the shortest possible path between start and goal configurations by constructing a graph on a portion of the confi...
متن کاملGlobal trajectory planning for fault tolerant manipulators
Whether a task can be completed after a failure of one of the degrees-of-freedom of a redundant manipulator depends on the joint angle at which the failure takes place. It is possible to achieve fault tolerance by globally planning a trajectory that avoids unfavorable joint positions before a failure occurs. In this paper, we present a trajectory planning algorithm that guarantees fault toleran...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
ژورنال
عنوان ژورنال: Abstract and Applied Analysis
سال: 2013
ISSN: 1085-3375,1687-0409
DOI: 10.1155/2013/476094