Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints
نویسندگان
چکیده
منابع مشابه
optimal 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...
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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 کاملModeling of flexible-link manipulators with prismatic joints
The axially translating flexible link in flexible manipulators with a prismatic joint can be modeled using the Euler-Bernoulli beam equation together with the convective terms. In general, the method of separation of variables cannot be applied to solve this partial differential equation. In this paper, we present a nondimensional form of the Euler-Bernoulli beam equation using the concept of g...
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This paper investigates multiple wheeled mobile manipulators coordinating with each other under a collision avoidance situation. In our previous work we derived kinematic and dynamic maniuplability measures for multiple mobile manipulators transporting a common object. Main objective of this paper is to extend the previous approach to a system consisting of two mobile manipulators carrying a co...
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نظریه هوش چندگانه قسمتهای متفاوت هوش بشری را مورد بررسی قرار می دهد که با شناخت آن شخص به درک بهتری از توانایی های خود میرسد و در نتیجه سعی در استفاده از آن جهت یادگیری بهتر میکند. همچنین با شناخت استعداد دانش آموزان، فرایند یادگیری بهتر میشود. هدف از انجام دادن این تحقیق بررسی رابطه بین هوش ریاضی و استعداد یادگیری زبان انگلیسی میباشد. برای انجام این تحقیق از پرسشنامه هوش ریاضی که توسط شیرر در ...
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ژورنال
عنوان ژورنال: Applied Mathematical Modelling
سال: 2012
ISSN: 0307-904X
DOI: 10.1016/j.apm.2011.10.002