Sub-Optimal Trajectory Planning of Mobile Manipulator.
نویسندگان
چکیده
منابع مشابه
Sub-Optimal Trajectory Planning of Mobile Manipulator
In this paper, a trajectory planning method of a mobile manipulator is presented. We derive the dynamics of the mobile manipulator considering it as the combined system of the manipulator and the mobile platform. The planning problem is formulated as an optimal control problem. To solve the problem, we use the concept of the order of priority. A gradient-based iterative algorithm which synthesi...
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Mobile robots that consist of a mobile platform with one or many manipulators mounted on it are of great interest in a number of applications. Combination of platform and manipulator causes robot operates in extended work space. The analysis of these systems includes kinematics redundancy that makes more complicated problem. However, it gives more feasibility to robotic systems because of the e...
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This paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. In non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. To this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
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this paper aims to discuss the requirements of safe and smooth trajectory planning of transporter mobile robots to perform non-prehensile object manipulation task. in non-prehensile approach, the robot and the object must keep their grasp-less contact during manipulation task. to this end, dynamic grasp concept is employed for a box manipulation task and corresponding conditions are obtained an...
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In this paper, a new formulation along with numerical solution for the problem of finding a point-to-point trajectory with maximum load carrying capacities for flexible manipulators is proposed. For rigid manipulators, the major limiting factor in determining the Dynamic Load Carrying Capacity (DLCC) is the joint actuator capacity. The flexibility exhibited by light weight robots or by robots o...
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ژورنال
عنوان ژورنال: TRANSACTIONS OF THE JAPAN SOCIETY OF MECHANICAL ENGINEERS Series C
سال: 2001
ISSN: 0387-5024,1884-8354
DOI: 10.1299/kikaic.67.3561