1、PDF外文：http:/ 4729 字 外文翻译 译文题目 一种 与 移动 机械臂 的部分零件所受载荷相协调的运动 结构 （ 2） 原稿题目 A kinematicall
2、y compatible framework for cooperative payload transport by nonholonomic mobile manipulators（ 2） 原稿出处 Auton Robot (2006) 21:22
3、7242 A kinematically
4、 compatible framework for cooperative payload transport by nonholonomic mobile manipulators （ 2） M. Abou-Samah1 , C. P. Tang2 , R. M. Bhatt2 and V. Krovi2 (1) MSC Software Corporation, Ann Arbor, MI 48105, USA (2) Mechanical and Aerospace Engineering, State University of New York at Buff
5、alo, Buffalo, NY 14260, USA Received: 5 August 2005 Revised: 25 May 2006 Accepted: 30 May 2006 Published online: 5 September 2006 Abstract In this paper, we examine the development of a kinematically compatible control framework for a modular system of wheeled mobile manipula
6、tors that can team up to cooperatively transport a common payload. Each individually autonomous mobile manipulator consists of a differentially-driven Wheeled Mobile Robot (WMR) with a mounted two degree-of-freedom (d.o.f) revolute-jointed, planar and passive manipulator arm. The composite wheeled v
7、ehicle, formed by placing a payload at the end-effectors of two (or more) such mobile manipulators, has the capability to accommodate, detect and correct both instantaneous and finite relative configuration errors. The kinematically-compatible motion-planning/control framework developed here i
8、s intended to facilitate maintenance of all kinematic (holonomic and nonholonomic) constraints within such systems. Given an arbitrary end-effector trajectory, each individual mobile-manipulator's bi-level hierarchical controller first generates a kinematically- feasible desired trajectory for t
9、he WMR base, which is then tracked by a suitable lower-level posture stabilizing controller. Two variants of system-level cooperative control schemesleader-follower and decentralized controlare then created based on the individual mobile-manipulator control scheme. Both methods are evaluated within
10、an implementation framework that emphasizes both virtual prototyping (VP) and hardware-in-the-loop (HIL) experimentation. Simulation and experimental results of an example of a two-module system are used to highlight the capabilities of a real-time local sensor-based controller for accommodation, de
11、tection and corection of relative formation errors. Keywords Composite system-Hardware-in-the-loop-Mobile manipulator- Physical cooperation-Redundancy resolution-Virtual prototyping Kinematic collaboration of two mobile manipulators We now examine two variants of system-level cooperative
12、 control schemesleader-follower and decentralized controlthat can be created based on the individual mobile-manipulator control scheme. Leader-follower approach The first method of modeling such a system considers the midpoint of the mobile base (MP B) of the mobile-manipulator B to be rigidly
13、 attached to the end-effector of mobile manipulator A, as depicted in Fig. 4. Figure 4(b) depicts how the end-effector frame E of MP A is rigidly attached to the frame at MP B (separated by a constant rotation angle ). &nbs
14、p; (15) Fig. 4 Schematic diagrams of the leader-follower scheme: (a) the 3-link mobile manipulator under analysis, and (b) the two-module composite system MP B now takes on the role of the leader and can be controlled to follow any trajectory that is feasible for a WMR. Hence, given a trajectory of the leader MP B , and the preferred manipulator configuration of , Eq. (5) can be rewritten as: (16) and correspondingly Eqs. (6)(8) as:
