http://chineseinput.net/에서 pinyin(병음)방식으로 중국어를 변환할 수 있습니다.
변환된 중국어를 복사하여 사용하시면 됩니다.
- 中文 을 입력하시려면 zhongwen을 입력하시고 space를누르시면됩니다.
- 北京 을 입력하시려면 beijing을 입력하시고 space를 누르시면 됩니다.
RISS 인기검색어
- 검색키워드
- 저자 : R. Abbasi Esfeden (검색결과 1 건)
- 무료
- 기관 내 무료
- 유료
-
Path planning algorithm in wheeled mobile manipulators based on motion of arms
M. H. Korayem,R. Abbasi Esfeden,S. R. Nekoo 대한기계학회 2015 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.29 No.4
This work proposes an algorithm besides output feedback linearization method for controlling a wheeled mobile robot with two manipulators. To control such a mobile robot, three desired trajectories (or fixed points for regulation) are needed: two for the arms and onefor the base. Improper choice in base path leads to singularity, low performance and failure. To prevent singularities and to attain asmooth motion, an algorithm is introduced as a local path planning process for the base. It consists of two parts which helps the robot tomaintain the desired configuration. The first part of the algorithm mainly focuses on the position and orientation of the base in future timebased on the arms configuration, and the second part adjusts the movement of the arms for obtaining a consistent motion. This maintenancereduces and preserves the norm of applied torques, which consequently leads to an increase in the performance of the robot and itsdynamic load carrying capacity (DLCC). Also, it is no longer required to define a trajectory or an end point for the base movement sincethey will be calculated automatically by the algorithm.
연관 검색어 추천
이 검색어로 많이 본 자료
활용도 높은 자료
