scholarly journals Coordinated motion control and event-based obstacle-crossing for four wheel-leg independent motor-driven robotic system

Mechatronics ◽  
2022 ◽  
Vol 81 ◽  
pp. 102697
Author(s):  
Dongchen Liu ◽  
Junzheng Wang ◽  
Shoukun Wang
Keyword(s):  
Motion Control ◽  
Robotic System ◽  
Coordinated Motion ◽  
Obstacle Crossing ◽  
Event Based

Robust coordinated motion control of an underwater vehicle-manipulator system with minimizing restoring moments

2011 ◽  
Vol 38 (10) ◽  
pp. 1197-1206 ◽  
Author(s):  
Jonghui Han ◽  
Jonghoon Park ◽  
Wan Kyun Chung
Keyword(s):  
Motion Control ◽  
Underwater Vehicle ◽  
Coordinated Motion

Coordinated Motion Planning of Legged Mobile Manipulator for Tracking the Given End-Effector’s Trajectory

2019 ◽  
Author(s):  
Kondalarao Bhavanibhatla ◽  
Sulthan Suresh-Fazeela ◽  
Dilip Kumar Pratihar
Keyword(s):  
Motion Planning ◽  
Degrees Of Freedom ◽  
Robotic System ◽  
Simulation Software ◽  
Body Motion ◽  
Whole Body ◽  
Mobile Manipulator ◽  
Coordinated Motion ◽  
Multibody Dynamic ◽  
The Given

Abstract In this paper, a novel algorithm is presented to achieve the coordinated motion planning of a Legged Mobile Manipulator (LMM) for tracking the given end-effector’s trajectory. LMM robotic system can be obtained by mounting a manipulator on the top of a multi-legged platform for achieving the capabilities of both manipulation and mobility. To exploit the advantages of these capabilities, the manipulator should be able to accomplish the task, while the hexapod platform moves simultaneously. In the presented approach, the whole-body motion planning is achieved in two steps. In the first step, the robotic system is assumed to be a mobile manipulator, in which the manipulator has two additional translational degrees of freedom at the base. The redundancy of this robotic system is solved by treating it as an optimization problem. Then, in the second step, the omnidirectional motion of the legged platform is achieved with a combination of straight forward and crab motions. The proposed algorithm is tested through a numerical simulation in MATLAB and then, validated on a virtual model of the robot using multibody dynamic simulation software, MSC ADAMS. Multiple trajectories of the end-effector have been tested and the results show that the proposed algorithm accomplishes the given task successfully by providing a singularity-free whole-body motion.

Sign in / Sign up

Export Citation Format

Share Document