A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2006; you can also visit the original URL.
The file type is application/pdf.
Filters
Integrated Task Planning and Control for Mobile Manipulators
2003
The international journal of robotics research
Preserved Fulltext
The mobile manipulator is considered as a redundant robot, and a unified dynamic model for an integrated mobile platform and on-board manipulator is developed. ...
In this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant robots, and an approach to nonholonomic cart pushing with mobile manipulators ...
The dynamic model is formulated in operational space for task-orientated robot motion and force control. The dynamic bandwidth is considered to coordinate the robot arm and the mobile platform. ...
doi:10.1177/0278364903022005004
fatcat:7kb4bo7tq5cy7c4dpalaokic5u
Integrated Task Planning and Control for Mobile Manipulators
2003
The international journal of robotics research
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2006; you can also visit the original URL.
The file type is application/pdf.
The mobile manipulator is considered as a redundant robot, and a unified dynamic model for an integrated mobile platform and on-board manipulator is developed. ...
In this paper we present an approach to decoupled force/position control of the end-effector along the same direction for redundant robots, and an approach to nonholonomic cart pushing with mobile manipulators ...
The dynamic model is formulated in operational space for task-orientated robot motion and force control. The dynamic bandwidth is considered to coordinate the robot arm and the mobile platform. ...
doi:10.1177/027836403128965105
fatcat:5xkqz2duxbf25g7zh752ijzqrq
Near-Optimal Trajectory Planning of a Spherical Mobile Robot for Environment Exploration
2008
2008 IEEE Conference on Robotics, Automation and Mechatronics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Designed for environment exploration, a spherical mobile robot BHQ-2 was briefly introduced. ...
Spherical mobile robot has the characteristics of compact structure and agile motion and is promising to be used in unmanned environment. ...
CONCLUSION The paper briefly introduces a spherical mobile robot BHQ-2 designed for environment exploration and mainly discusses its control modeling and near-optimal nonholonomic motion planning. ...
doi:10.1109/ramech.2008.4681380
dblp:conf/ram/ZhanCL08
fatcat:tr3wz7hrtnfxdbcjviwf32ssxy
Design and Analysis of 5 DOF Wheeled Mobile Robot
English
2016
International Journal of Engineering Trends and Technoloy
English
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
This dissertation work is aimed for research over the 5 DoF wheeled mobile robot application. ...
A kinematics models which including direct kinematics, inverse kinematics, and differential kinematics for a wheeled mobile robot is established. ...
Motion planning methods were studied for different types of mobile manipulator to execute multiple missions. ...
doi:10.14445/22315381/ijett-v32p265
fatcat:jfgt6yhhlzdlnampf7pnrsas54
Sliding mode control for trajectory tracking of nonholonomic wheeled mobile robots
1999
IEEE Transactions on Robotics and Automation
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
Nonholonomic mobile robots have constraints imposed on the motion that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates. ...
The posture of a mobile robot is represented by polar coordinates and the dynamic equation of the robot is feedback-linearized by the computed-torque method. ...
In this paper, we assume that the motion of passive wheel can be ignored in dynamics of the mobile robot. ...
doi:10.1109/70.768190
fatcat:mdm6qdn5sbcgxdxy4r4gkoqgru
Page 530 of Mathematical Reviews Vol. , Issue 99a
[page]
1991
Mathematical Reviews
Preserved Fulltext
The Internet Archive has digitized a microfilm copy of this work. It may be possible to borrow a copy for reading.
The article pro- vides an excellent bibliography of recent advances in the field of nonholonomic motion planning for mobile robots. {For the entire collection see MR 98k:70012.} ...
Finally, a variational method for finding an approximately optimal path for nonholonomic robots is outlined. Section 5 is devoted to nonholonomic path planning for small-time control- lable systems. ...
Stabilizing a Class of Switched Nonholonomic Mechanical Systems
2020
International Journal of Robotics and Automation Technology
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2021; you can also visit the original URL.
The file type is application/pdf.
singular problems of nonholonomic systems caused by the local coordinates can be overcome, and provides a flexible approach of optimal motion planning for mobile robotic systems. ...
For variant robot systems with switched discontinuous dynamics, it is shown that the switching control approaches can be used to stabilize a class of switched heterogeneous nonholonomic systems. ...
provide a dexterous way for optimal motion planning of mobile robot system such as obstacle avoidance. ...
doi:10.31875/2409-9694.2020.07.2
fatcat:ddj5kecjivg4bbfabkt457epti
Motion planning for mobile surgery assistant
2014
Acta of Bioengineering and Biomechanics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures. ...
The motion of the mobile manipulator is planned in order to maximise the manipulability measure, thus to avoid manipulator singularities. ...
Desai and Kumar [3] have solved the motion planning problem for multiple mobile manipulators, taking their dynamics and obstacles in the workspace into consideration. ...
pmid:25088187
fatcat:xsdwgediajbrppeinqox66t5aa
A Wheeled Inverted Pendulum Learning Stable and Accurate Control from Demonstrations
2019
Applied Sciences
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2019; you can also visit the original URL.
The file type is application/pdf.
In order to enable robots to be more intelligent and flexible, one way is to let robots learn human control strategy from demonstrations. ...
The learning model is able to map the robot position and pose to the wheel speeds, such that the robot regulated by the learned model can move in a desired trajectory and finally stop at a target position ...
can still be kept on a nonholonomic mobile robot. ...
doi:10.3390/app9245279
fatcat:pm2u2rxrfbcmjkjaynjcnmycba
Developments in nonholonomic control problems
1995
IEEE Control Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2010; you can also visit the original URL.
The file type is application/pdf.
Harris McClamroch \r n this article, we provide a summary of recent developments I in control of nonholonomic systems. ...
published m the areas of sensitwity and robustness, optimal control, digital feedback, estimation, and stochastic control He has worked on applications problems arising in flexible space structures, robotics ...
[74] also contains a nice chapter on nonholonomic motion plan-They proposed a general motion planning algorithm for kinening. ...
doi:10.1109/37.476384
fatcat:3vufs7ujsjcbxo5yb23ylaltfm
Full-state tracking and internal dynamics of nonholonomic wheeled mobile robots
2003
IEEE/ASME transactions on mechatronics
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. ...
Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. ...
A car-like robot has the least mobility ( ) and the stability analysis for a car-like robot is one of the most challenging problems among the nonholonomic wheeled mobile robots. ...
doi:10.1109/tmech.2003.812832
fatcat:kjejc2ky4jap5m2yyk3wzcwpey
Full state tracking and internal dynamics of nonholonomic wheeled mobile robots
2000
Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334)
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
In this paper, the stable full-state tracking problem is investigated for nonholonomic wheeled mobile robots under output-tracking control laws. ...
Dynamics of such wheeled mobile robots are nonholonomic and pose challenging problems for control design and stability analysis. ...
A car-like robot has the least mobility ( ) and the stability analysis for a car-like robot is one of the most challenging problems among the nonholonomic wheeled mobile robots. ...
doi:10.1109/acc.2000.879170
fatcat:q2ay2kpltjhudby5mwsfjctbhi
Planning of Collision-Free Trajectory for Mobile Manipulators
2013
International Journal of Applied Mechanics and Engineering
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2018; you can also visit the original URL.
The file type is application/pdf.
The motion of the mobile manipulator is planned in order to maximize the manipulability measure, thus to avoid manipulator singularities. ...
A method of planning sub-optimal trajectory for a mobile manipulator working in the environment including obstacles is presented. ...
In the proposed solution the dynamic model of the mobile robot is derived from Lagrange's form of D'Alembert's principle. ...
doi:10.2478/ijame-2013-0028
fatcat:vkghdxl6djge7jrdubszj5rjh4
Sliding Mode Motion Control of Nonholonomic Mobile Robots
1999
IEEE Control Systems
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2017; you can also visit the original URL.
The file type is application/pdf.
s nonholonomic mobile robots have constraints imposed on motions that are not integrable, i.e., the constraints cannot be written as time derivatives of some function of the generalized coordinates, advanced ...
The state variables of the mobile robot are represented in polar coordinates, and the dynamic equation of the system is feedback-linearized by a computed-torque method. ...
The approach was based on dynamic models of nonholonomic mobile robots. ...
doi:10.1109/37.753931
fatcat:jpjiycnlezhfvihavdhadiormy
Geometric motion planning and formation optimization for a fleet of nonholonomic wheeled mobile robots
2004
IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004
Preserved Fulltext
A copy of this work was available on the public web and has been preserved in the Wayback Machine. The capture dates from 2010; you can also visit the original URL.
The file type is application/pdf.
In this paper, we present a geometric method for motion planning for a fleet of differentially-driven wheeled mobile robots moving in formation, that explicitly takes in to account their nonholonomic constraints ...
The relative position within the formation induces different motion plans each individual wheeled mobile robot (WMR). ...
ACKNOWLEDGMENT We gratefully acknowledge the support from The Research Foundation of State University of New York and National Science Foundation CAREER Award (IIS-0347653) for this research effort. ...
doi:10.1109/robot.2004.1308759
dblp:conf/icra/BhattTK04
fatcat:sc7cjv75m5gefn2b5vtpdsqx3a
« Previous
Showing results 1 — 15 out of 1,034 results