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1、外文翻译译文题目一种与移动机械臂的部分零件所受载荷相协调的运动结构（2）原稿题目Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators（2）原稿出处AutonRobot(2006)21:227–242Akinematicallycompatibleframeworkforcooperativepayloadtransportbynonholonomicmobilemanipulators（2）M. Abou-Sama
2、h1 ,C. P. Tang2 ,R. M. Bhatt2 andV. Krovi2 (1) MSCSoftwareCorporation,AnnArbor,MI 48105,USA(2) MechanicalandAerospaceEngineering,StateUniversityofNewYorkatBuffalo,Buffalo,NY 14260,USAReceived:5 August 2005 Revised:25 May 2006 Accepted:30 May 2006 Publishedonline:5 September
3、2006Abstract Inthispaper,weexaminethedevelopmentofakinematicallycompatiblecontrolframeworkforamodularsystemofwheeledmobilemanipulatorsthatcanteamuptocooperativelytransportacommonpayload.Eachindividuallyautonomousmobilemanipulatorconsistsofadifferentially-drivenWheeledMobileRob
4、ot(WMR)withamountedtwodegree-of-freedom(d.o.f)revolute-jointed,planarandpassivemanipulatorarm.Thecompositewheeledvehicle,formedbyplacingapayloadattheend-effectorsoftwo(ormore)suchmobilemanipulators,hasthecapabilitytoaccommodate,detectandcorrectbothinstantaneousandfiniterelative
5、configurationerrors.Thekinematically-compatiblemotion-planning/controlframeworkdevelopedhereisintendedtofacilitatemaintenanceofallkinematic(holonomicandnonholonomic)constraintswithinsuchsystems.Givenanarbitraryend-effectortrajectory,eachindividualmobile-manipulator'sbi-levelhie
6、rarchicalcontrollerfirstgeneratesakinematically-feasibledesiredtrajectoryfortheWMRbase,whichisthentrackedbyasuitablelower-levelposturestabilizingcontroller.Twovariantsofsystem-levelcooperativecontrolschemes—leader-followeranddecentralizedcontrol—arethencreatedbasedontheindividu
7、almobile-manipulatorcontrolscheme.Bothmethodsareevaluatedwithinanimplementationframeworkthatemphasizesbothvirtualprototyping(VP)andhardware-in-the-loop(HIL)experimentation.Simulationandexperimentalresultsofanexampleofatwo-modulesystemareusedtohighlightthecapabilitiesofareal-tim
8、elocalsensor-basedcontrollerforaccommodation,detection
