The Infona portal uses cookies, i.e. strings of text saved by a browser on the user's device. The portal can access those files and use them to remember the user's data, such as their chosen settings (screen view, interface language, etc.), or their login data. By using the Infona portal the user accepts automatic saving and using this information for portal operation purposes. More information on the subject can be found in the Privacy Policy and Terms of Service. By closing this window the user confirms that they have read the information on cookie usage, and they accept the privacy policy and the way cookies are used by the portal. You can change the cookie settings in your browser.
The capability and practical use of mobile robots in real-world applications has resulted in them being a topic of recent research interest. In this paper, motion planning for a mobile robot is considered. The Leapfrog algorithm, a method for solving nonlinear optimal control problems, is applied to generate optimal paths. The Leapfrog method is shown to produce optimal paths in simulations and for...
Manipulator systems or mobile vehicles are designed to perform a desired motion task, where they need to provide the space and time required for the task in trajectory equation forms. The most common form of a trajectory is polynomial. In this paper, we considered a polynomial trajectory for the problem of moving a mobile robot from its initial position to a goal position in over a continuous set...
This paper discusses how mobile manipulators with an under-actuated vertical arm can be designed to be differentially flat. The property of differential flatness is achieved by appropriate inertia redistribution of the vertical arm and a wide range of under-actuation becomes possible. As a result of having the flatness property, the under-actuated mobile manipulators are capable of executing point-to-point...
In this paper, we study the problem of door-opening by using a modular re-configurable robot (MRR) mounted on a tracked mobile platform. The main concern of opening a door is how to prevent the internal forces that occur because of the positioning error or the imprecise modeling of the environment, i.e., the door parameters. Most previous research is based on compliant control, which makes the control...
In this paper, we present a method to obtain the optimal trajectories of a team of robots monitoring a distributed parameter system located in a different domain. The mobile robots are equipped with remote sensors capable of measuring the considered system's state from a separate space. The purpose of trajectory planning of the team of robots is to obtain measurements so as to estimate the parameters...
Lower mobility parallel robot mechanisms have become analysis hotspot in the field of parallel robot mechanisms because of the characteristics of simple structure, lower price and easy control, they have good prospect in industrial application. In this paper, a new symmetric 3-PCR parallel robot mechanism was designed according to screw theory and single opened chain type synthesis method. On the...
Set the date range to filter the displayed results. You can set a starting date, ending date or both. You can enter the dates manually or choose them from the calendar.