Fundamentals in Modeling and Control of Mobile Manipulators by Zhijun Li
By Zhijun Li
Cellular manipulators mix some great benefits of cellular systems and robot fingers, extending their operational diversity and performance to massive areas and distant, not easy, and/or harmful environments. additionally they carry complexity and hassle in dynamic modeling and keep an eye on approach layout. notwithstanding, advances in nonlinear process research and regulate procedure layout supply strong instruments and ideas for the keep watch over of cellular manipulator structures. basics in Modeling and keep watch over of cellular Manipulators offers an intensive theoretical remedy of a number of primary difficulties for cellular robot manipulators.
The e-book integrates clean innovations and state of the art effects to systematically study kinematics and dynamics, movement new release, suggestions regulate, coordination, and cooperation. From this therapy, the authors shape a uncomplicated theoretical framework for a cellular robot manipulator that extends the idea of nonlinear keep watch over and applies to extra reasonable difficulties. Drawing on their examine during the last ten years, the authors suggest novel keep watch over idea recommendations and strategies to take on key problems.
Topics lined contain kinematic and dynamic modeling, keep watch over of nonholonomic structures, course making plans that considers movement and manipulation, hybrid motion/force keep watch over and hybrid position/force regulate the place the cellular manipulator is needed to engage with environments, and coordination and cooperation ideas for a number of cellular manipulators. The e-book additionally contains sensible examples of functions in engineering structures. This well timed e-book investigates vital clinical and engineering matters for researchers and engineers operating with both unmarried or a number of cellular manipulators for better operational area, higher cooperation, and more advantageous productiveness.
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Extra resources for Fundamentals in Modeling and Control of Mobile Manipulators
6 Simulation Studies . . . . . . . . . . . . . . . . . . . . . . . . 3 Conclusion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 41 41 43 44 48 52 52 53 54 58 60 68 79 Path Planning of Mobile Manipulators Introduction Motion planning of mobile manipulators is concerned with obtaining open loop controls that steer the system from an initial conﬁguration to a ﬁnal one, without violating nonholonomic constraints or collision avoidance constraints.
The rest of the chapter is organized as follows. 2 describes the problem formulation considered. 3 and the dynamic feedback linearization design is presented. 4. 2 Preliminaries and Problem Formulation Consider the general case of mobile manipulators consisting of on-board robotic manipulators mounted on wheeled mobile platforms. Assume that the robot must move on a planar plane, then the motion of the mobile platform on the plane can be described in Fig. 1. The coordinate systems are deﬁned as follows: an arbitrary inertial base frame OXY Z is ﬁxed on the motion plane, while Ov Xv Yv Zv is a frame attached to the mobile platform.
2 Kinetic Energy . . . . . . . . . . . . . . . . . . . . . . . . . 3 Potential Energy . . . . . . . . . . . . . . . . . . . . . . . . . 4 Lagrangian Equations . . . . . . . . . . . . . . . . . . . . . . 5 Properties of Dynamic Equations . . . . . . . . . . . . . . . . 5 Dynamics in Cartesian Space . . . . . . . . . . . . . . . . . . . . .