On-line planning of nonholonomic mobile manipulators based on stability twist constraint

Detalhes bibliográficos
Autor(a) principal: Yu,Leibin
Data de Publicação: 2010
Outros Autores: Cao,Qixin, Li,Changyong, Qiu,Changwu
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
Texto Completo: http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782010000200010
Resumo: The stability of holonomic mobile manipulator can be improved effectively based on the stability twist constraint (STC). However, nonholonomic mobile manipulators are much more popular. In this paper, the stability of a nonholonomic mobile manipulator is improved with STC consideration. However, the constraint of nonholonomic mobility will affect the orientation of mobile base. Numerical simulations results are carried out for the nonholonomic mobile manipulator with different initial states to track the same trajectory of the end-effector.
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spelling On-line planning of nonholonomic mobile manipulators based on stability twist constraintstability twist constraint (STC)tip-over preventingstabilitynonholonomic mobile manipulatorThe stability of holonomic mobile manipulator can be improved effectively based on the stability twist constraint (STC). However, nonholonomic mobile manipulators are much more popular. In this paper, the stability of a nonholonomic mobile manipulator is improved with STC consideration. However, the constraint of nonholonomic mobility will affect the orientation of mobile base. Numerical simulations results are carried out for the nonholonomic mobile manipulator with different initial states to track the same trajectory of the end-effector.Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM2010-06-01info:eu-repo/semantics/articleinfo:eu-repo/semantics/publishedVersiontext/htmlhttp://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782010000200010Journal of the Brazilian Society of Mechanical Sciences and Engineering v.32 n.2 2010reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)instacron:ABCM10.1590/S1678-58782010000200010info:eu-repo/semantics/openAccessYu,LeibinCao,QixinLi,ChangyongQiu,Changwueng2010-08-31T00:00:00Zoai:scielo:S1678-58782010000200010Revistahttps://www.scielo.br/j/jbsmse/https://old.scielo.br/oai/scielo-oai.php||abcm@abcm.org.br1806-36911678-5878opendoar:2010-08-31T00:00Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)false
dc.title.none.fl_str_mv On-line planning of nonholonomic mobile manipulators based on stability twist constraint
title On-line planning of nonholonomic mobile manipulators based on stability twist constraint
spellingShingle On-line planning of nonholonomic mobile manipulators based on stability twist constraint
Yu,Leibin
stability twist constraint (STC)
tip-over preventing
stability
nonholonomic mobile manipulator
title_short On-line planning of nonholonomic mobile manipulators based on stability twist constraint
title_full On-line planning of nonholonomic mobile manipulators based on stability twist constraint
title_fullStr On-line planning of nonholonomic mobile manipulators based on stability twist constraint
title_full_unstemmed On-line planning of nonholonomic mobile manipulators based on stability twist constraint
title_sort On-line planning of nonholonomic mobile manipulators based on stability twist constraint
author Yu,Leibin
author_facet Yu,Leibin
Cao,Qixin
Li,Changyong
Qiu,Changwu
author_role author
author2 Cao,Qixin
Li,Changyong
Qiu,Changwu
author2_role author
author
author
dc.contributor.author.fl_str_mv Yu,Leibin
Cao,Qixin
Li,Changyong
Qiu,Changwu
dc.subject.por.fl_str_mv stability twist constraint (STC)
tip-over preventing
stability
nonholonomic mobile manipulator
topic stability twist constraint (STC)
tip-over preventing
stability
nonholonomic mobile manipulator
description The stability of holonomic mobile manipulator can be improved effectively based on the stability twist constraint (STC). However, nonholonomic mobile manipulators are much more popular. In this paper, the stability of a nonholonomic mobile manipulator is improved with STC consideration. However, the constraint of nonholonomic mobility will affect the orientation of mobile base. Numerical simulations results are carried out for the nonholonomic mobile manipulator with different initial states to track the same trajectory of the end-effector.
publishDate 2010
dc.date.none.fl_str_mv 2010-06-01
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782010000200010
url http://old.scielo.br/scielo.php?script=sci_arttext&pid=S1678-58782010000200010
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 10.1590/S1678-58782010000200010
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv text/html
dc.publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
publisher.none.fl_str_mv Associação Brasileira de Engenharia e Ciências Mecânicas - ABCM
dc.source.none.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering v.32 n.2 2010
reponame:Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
instname:Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron:ABCM
instname_str Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
instacron_str ABCM
institution ABCM
reponame_str Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
collection Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online)
repository.name.fl_str_mv Journal of the Brazilian Society of Mechanical Sciences and Engineering (Online) - Associação Brasileira de Engenharia e Ciências Mecânicas (ABCM)
repository.mail.fl_str_mv ||abcm@abcm.org.br
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