机械手外文翻译原文

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1、AutonRobot(2006)21:227242DOI10.1007/s10514-005-9717-9AkinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulatorsM.Abou-Samah·C.P.Tang·R.M.Bhatt·V.KroviReceived:5August2005/Revised:25May2006/Accepted:30May2006/Publishedonline:5September2006
CSprin

2、gerScience+BusinessMedia,LLC2006AbstractInthispaper,weexaminethedevelopmentofarethencreatedbasedontheindividualmobile-manipulatorakinematicallycompatiblecontrolframeworkforamod-controlscheme.Bothmethodsareevaluatedwithinanimple-ularsystemofwheeledmobilemanipulatorsthatcanteammentat

3、ionframeworkthatemphasizesbothvirtualprototyp-uptocooperativelytransportacommonpayload.Eachin-ing(VP)andhardware-in-the-loop(HIL)experimentation.dividuallyautonomousmobilemanipulatorconsistsofaSimulationandexperimentalresultsofanexampleofatwo-differentially-drivenWheeledMobileRobot

4、(WMR)withmodulesystemareusedtohighlightthecapabilitiesofaamountedtwodegree-of-freedom(d.o.f)revolute-jointed,real-timelocalsensor-basedcontrollerforaccommodation,planarandpassivemanipulatorarm.Thecompositewheeleddetectionandcorectionofrelativeformationerrors.vehicle,formedbyplacing

5、apayloadattheend-effectorsoftwo(ormore)suchmobilemanipulators,hasthecapabilityKeywordsCompositesystem.Hardware-in-the-loop.toaccommodate,detectandcorrectbothinstantaneousandMobilemanipulator.Physicalcooperation.Redundancyfiniterelativeconfigurationerrors.resolution.Virtualprototyping

6、Thekinematically-compatiblemotion-planning/controlframeworkdevelopedhereisintendedtofacilitatemain-1Introductiontenanceofallkinematic(holonomicandnonholonomic)constraintswithinsuchsystems.Givenanarbitraryend-Cooperationhasbeenthekeytosuccessofmosthumaneffectortrajectory,eachindivid

7、ualmobile-manipulatorsbi-endeavorsandthesimilarincorporationofcooperationinlevelhierarchicalcontrollerfirstgeneratesakinematically-roboticsystemsiscriticaltorealizethenextgenerationoffeasibledesiredtrajectoryfortheWMRbase,whichissystemsandapplications.Interestincooperatingsystemsthe

8、ntrackedbyasuitablelower-l