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At first, this paper briefly introduces a novel reconfigurable mobile robots system JL-1 and the serial and parallel mechanism using to perform the reconfiguration actions. Based on the kinematics equations of the serial and parallel mechanism, the static transformation equations of it are concluded according to the virtual work theory, which is useful in determining the drivable workspace of the...
This paper is concerned with cooperative control problems in formation of mobile robot under the nonholonomic constraints, which means certain geometrical constraints are imposed on multiple mobile robots throughout their travel. For this purpose, a new method of motion control for formations is presented, which is based on the piecewise smooth dynamic formation framework. In addition, the quality...
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