T.J. Tarn, G.A. Shoults, and S.P. Yang. Dynamic model for an underwater vehicle with multiple robotic manipulators. In Pre-Proc. 6th Int. Advanced Robotics Program, pages 1-23, Toulon-La Seyne, 1996. Home/Search Document Not in Database Summary Related Articles Check |
This paper is cited in the following contexts:
Advanced Agricultural Robots: Kinematics and Dynamics of.. - Tanner, al. (Correct)
.... in food industry has also been considered (Dreyer, 1994; Masinick, 1994) The mobile base of a mobile manipulator is subject 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 ....
....2.3. Mobile manipulator k dynamic equations Kane s dynamic equations for mobile manipulator k can be summarized in: F r ) k = F r ) k =0 r=1, n 6 (18) where (F r ) k and (F r ) k are the sum of generalized active forces and inertial forces, respectively. The model can easily be brought (Tarn et al. 1996) into the classical form: M(q)q C(q, q# ) G(q) F e =# (19) The nonholonomic constraints are expressed as A(q)q# =0. Let S(q) be the matrix the columns of which span the null space of A. S implies the existence of variables ##R n 2 such that (Campion and Bastin, 1991) q# =S#. Then Eq. 19) can ....
Tarn, T., Shoults, G., Yang, S., 1996. Dynamic model for an underwater vehicle with multiple robotic manipulators. In: Pre-Proceedings of the Sixth International Advanced Robotics Program, pp. 1 -- 23.
Mobile Manipulator Modeling with Kane's Approach - Tanner, Kyriakopoulos (Correct)
No context found.
T.J. Tarn, G.A. Shoults, and S.P. Yang. Dynamic model for an underwater vehicle with multiple robotic manipulators. In Pre-Proc. 6th Int. Advanced Robotics Program, pages 1-23, Toulon-La Seyne, 1996.
Online articles have much greater impact More about CiteSeer.IST Add search form to your site Submit documents Feedback
CiteSeer.IST - Copyright Penn State and NEC