Non-holonomic Constrains for a Mobile Manipulator

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Jerk Bounded Trajectory Planning For Non-Holonomic Mobile Manipulator

Mobile manipulator systems comprising of a mobile platform with one or more manipulators are of great interest in a number of applications. This paper presents a modeling of the system without violating the nonholonomic constraints of the platform. Trajectory planning by soft motion and seventh order polynomial to control jerk acceleration, and velocity, is also presented. The hub torque requir...

متن کامل

Motion Control of non - Holonomic Mobile Manipulator using Fuzzy Logic

In this paper, a new methodology for motion control of mobile manipulator is presented. Motion control of mobile manipulator addresses the problem of trajectory tracking in autonomous mode witch allowing the endeffector and the plat-form to follow simultaneously desired trajectories without violating the non-holonomic constraints. Moving mobile manipulator systems presents many problems that ar...

متن کامل

Kinematic Modeling and Control Algorithm for Non-holonomic Mobile Manipulator and Testing on WMRA system

In this paper, we will explore combining the manipulation of a robotic arm and the mobility of a mobile platform, both in theory and in hardware implementation. First, the kinematic equations of the 7-DoF redundant robotic arm and the 2-DoF non-holonomic mobile platform will be introduced. Second, we will derive the Jacobian equations of the robotic arm and the mobile platform. The two Jacobian...

متن کامل

Motion Planning and Control of Non-holonomic Mobile Manipulator Using Fuzzy Logic

In this paper, a combined control of a mobile manipulator is studied, the platform is velocity controlled and the manipulator is torque controlled. Our objective is to develop a control method which generates the adequate articular torques and kinematics control to move the end-effector and the platform for executing the task efficiently without any collisions between the mobile manipulator (ma...

متن کامل

Formation Control for Non-Holonomic Mobile Robots: A Hybrid Approach

Many cooperative tasks in real world environments, such as exploring, surveillance, search and rescue, transporting large objects and capturing a prey, need the robots to maintain some desired formations when moving. Formation control refers to the problem of controlling the relative position and orientations of robots in a group, while allowing the group to move as a whole. Problems in formati...

متن کامل

ذخیره 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: International Journal of Mechanical Engineering and Robotics Research

سال: 2020

ISSN: 2278-0149

DOI: 10.18178/ijmerr.9.1.56-59