M.W. Chen and A.M.S. Zalzala, Dynamic modelling and genetic-based motion planning of mobile manipulator systems with nonholonomic constraints, Research Report 600, Robotics Research Group, Dept. of Automatic Control and Systems Engineering, University of Sheffield, UK, September 1995. Home/Search Document Not in Database Summary Related Articles Check |
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Modeling of Multiple Mobile Manipulators Handling a.. - Tanner.. (Correct)
.... operating in aquatic environments is a recent and active area of research [27] 17] Of course, mobile manipulators can also operate on ground, given they are attached to a vehicle (normally wheeled) and some significant research has already been conducted on the field [35] 33] 11] 4] [2] [7] 34] Mobile manipulators extend the manipulator workspace and its ability to work efficiently. Due to the mobile base, the manipulator is capable of configuring itself to practically any operational point. In 1 addition, it can grasp and manipulate an object in many different ways ....
....The dynamic equations of motion are obtained using the classic Euler Lagrange formulation in operational space [12] assuming that the mobile platforms can move in a holonomic way. Other models include nonholonomic constraints, using classic Euler Lagrange [35] and Newton Euler formulations [2]. These models are more accurate and consistent, even though they still do not consider all constraints imposed in mobile manipulator systems. In [2] the no slipping nonholonomic condition is not taken into account as well as the angular momentum preservation condition associated with tipping ....
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M.W. Chen and A.M.S. Zalzala, Dynamic modelling and genetic-based motion planning of mobile manipulator systems with nonholonomic constraints, Research Report 600, Robotics Research Group, Dept. of Automatic Control and Systems Engineering, University of Sheffield, UK, September 1995.
Advanced Agricultural Robots: Kinematics and Dynamics of.. - Tanner, al. (Correct)
.... to motion constraints called nonholonomic (Campion and Bastin, 1991) Many of the models proposed for mobile manipulator systems do not include them (Khatib et al. 1995; Tarn et al. 1996) Others include them, using classic Euler Lagrange (Yamamoto, 1994) and Newton Euler formulations (Chen and Zalzala, 1995), but do not consider all constraints imposed in such systems. Recently, Thanjavur and Rajogopalan (1997) modeled an AGV using Kane s equations. Previous approaches to non rigid material handling focus mainly on formulating general continuous dynamic equations for the object. Sun et al. 1996) ....
Chen, M., Zalzala, A., 1995. Dynamic modelling and genetic-based motion planning of mobile manipulator systems with nonholonomic constraints. Research Report 600, Robotics Research Group, Department of Automatic Control and Systems Engineering, University of Sheffield, UK.
Mobile Manipulator Modeling with Kane's Approach - Tanner, Kyriakopoulos (Correct)
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M.W. Chen and A.M.S. Zalzala. Dynamic modelling and genetic-based motion planning of mobile manipulator systems with nonholonomic constraints. Research Report 600, Robotics Research Group, Dept. of Automatic Control and Systems Engineering, University of Sheeld, UK, September 1995.
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