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Obiekt
Tytuł: Planning of collision-free trajectory for mobile manipulators
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Abstract:
A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. The path of the end-effector is defined as a curve that can be parameterized by any scaling parameter, the reference trajectory of a mobile platform is not needed. Constraints connected with the existence of mechanical limits for a given manipulator configuration, collision avoidance conditions and control constraints are considered. ; The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. The method is based on a penalty function approach and a redundancy resolution at the acceleration level. A computer example involving a mobile manipulator consisting of a nonholonomic platform and a SCARA type holonomic manipulator operating in a two-dimensional task space is also presented.
Publisher:
Zielona Góra: Uniwersytet Zielonogórski
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Pages:
Source:
IJAME, volume 18, number 2 (2013)
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License:
License CC BY-NC-ND 4.0:
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Biblioteka Uniwersytetu Zielonogórskiego
Kolekcje, do których przypisany jest obiekt:
- Digital Library of Zielona Góra > Repository > Faculties > Faculty of Mechanical Engineering
- Digital Library of Zielona Góra > Repository > Types of work > Articles
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME)
- Digital Library of Zielona Góra > Repository > Scientific journals and UZ publishing series > International Journal of Applied Mechanics and Engineering (IJAME) > International Journal of Applied Mechanics and Engineering (IJAME) (2013)
Data ostatniej modyfikacji:
Jul 6, 2023
Data dodania obiektu:
Apr 24, 2023
Liczba wyświetleń treści obiektu:
174
Wszystkie dostępne wersje tego obiektu:
https://zbc.uz.zgora.pl/publication/81427
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| Nazwa wydania | Data |
|---|---|
| Planning of collision-free trajectory for mobile manipulators | Jul 6, 2023 |
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