KINEMATIC ANALYSIS OF MOBILE MANIPULATOR FOR MEASUREMENT AND MAINTENANCE IN DANGEROUS ENVIRONMENT
  • 【摘要】

    This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform. Then an artificial neural network to realize the coordin... 展开>>This paper studies the kinematic modeling of a mobile manipulator that consists of 5-DOF manipulator and an autonomous wheeled mobile platform. Then an artificial neural network to realize the coordination motion between manipulator and mobile platform is developed. On the basis of the task specifications, the algorithm determines the appropriate control variables to respond to the well tracking trajectory. The control strategy employed for either subsystem is achieved by using a robust supervised controller. A learning paradigm is used to produce the required reference variables for an overall cooperative behavior of the system. Simulation results are presented to show the effectiveness of this approach. 收起<<

  • 【作者】

  • 【作者单位】

    SCHOOL OF MECHANICAL ENGINEERING

  • 【刊期】

    武汉理工大学学报 ISTIC PKU 2006年z2期

  • 【关键词】

    MOBILE MANIPULATOR  KINEMATICS ANALYSIS  NONHOLONOMIC CONSTRAINTS  COOPERATIVE BEHAVIOR  ARTIFICIAL NEURAL NETWORK 

  • 【基金项目】

    河北省教育基金