On-line Planning of Nonholonomic Mobile Manipulators Based on Stability Twist Constraint

被引：1
|
作者：
Yu, Leibin [1 ]
Cao, Qixin [1 ]
Li, Changyong [1 ]
Qiu, Changwu [1 ]
机构：
[1] Shanghai Jiao Tong Univ, Res Inst Robot, Shanghai 200030, Peoples R China
来源：
JOURNAL OF THE BRAZILIAN SOCIETY OF MECHANICAL SCIENCES AND ENGINEERING | 2010年 / 32卷 / 02期
关键词：
stability twist constraint (STC); tip-over preventing; stability; nonholonomic mobile manipulator;
D O I：
暂无
中图分类号：
TH [机械、仪表工业];
学科分类号：
0802 ;
摘要：
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.
引用
收藏
页码：165 / 170
页数：6
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