Paper Title:
Optimal Motion Planning for the Teaching Experimental Mobile Manipulator
  Abstract

An optimal motion planning based on minimum principle is presented to address the motion problem of the mobile manipulator in a sort of experimental system. In view of the characteristic of the practical experimental apparatus, the model of the manipulator is deduced based on the kinetic analysis and mathematic method. An optimal control scheme is then investigated to deal with the optimization problem of the motion planning for the manipulator, so as to guarantee the demand of the teaching experiment. Simulation verifies the control performance of the optimal control scheme for the optimal motion planning of the manipulator, and it helps improve the teaching experiment effect.

  Info
Periodical
Chapter
Chapter 1: Applied Mechanics Mechanical Engineering
Edited by
Honghua Tan
Pages
56-61
DOI
10.4028/www.scientific.net/AMM.138-139.56
Citation
H. P. Zhou, P. Ge, Y. Fang, "Optimal Motion Planning for the Teaching Experimental Mobile Manipulator", Applied Mechanics and Materials, Vols. 138-139, pp. 56-61, 2012
Online since
November 2011
Export
Price
$32.00
Share

In order to see related information, you need to Login.

In order to see related information, you need to Login.

Authors: Chi Wu Bu, Li Xun Zhang
Chapter 9: Information System for Materials and Mechanics
Abstract:A robot system is present for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding tool. In order...
1203
Authors: Chi Wu Bu, Li Xun Zhang
Chapter 7: Mechanics Engineering and Materials
Abstract:A mobile grinding robot is present here for the wind turbine blade grinding work. The robot is a mobile manipulator equipped with a grinding...
889
Authors: Amin Noshadi, Ali Zolfagharian, Gang Wang
Chapter 23: Computer-Aided Design, Manufacturing, and Engineering
Abstract:This paper presents a novel approach to control a 3-RRR (revolute-revolute-revolute) planar parallel manipulator applying an active force...
4932
Authors: Gen Liang Xiong, Hai Chu Chen, Rui Hua Zhang, Fa Yun Liang
Chapter 22: Mechanical and Electronic Engineering Control
Abstract:Recently, flexible joint lightweight robots are widely used in a variety of mobile robots or mechanical platforms, playing a more and more...
5022
Authors: Jian Jia Li, Xin Hua Zhao
Chapter 12: Computer-Aided Design, Manufacturing and Engineering
Abstract:The dynamical analysis for the tracked moving platform and the manipulator are established based on by Newton-Euler method and Dynamics model...
4817