Research on Cooperative Motion Planning of Space Multi-robots
نویسندگان
چکیده
منابع مشابه
Planning spiral motion of nonholonomic space robots
A freeying space robot with a 6 DOF manipulator cannot follow an arbitrary trajectory in the 9D generalized coordinates(3 of the satellite orientation and 6 of the manipulator) with only manipulator joint control, though it was shown to be commonly controllable in the literature. In this paper, we propose a method to approximate the desired 9D path by introducing a perturbation around it. We ca...
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Mobile robots that consist of a mobile platform with one or many manipulators, are of great interest in a number of applications. This paper presents a methodology for generating paths and trajectories for both the mobile platform and the manipulator that will take a system from an initial configuration to a pre-specified final one, without violating the nonholonomic constraint. The generated p...
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The multi-robot coordination task is investigated in its Representation Space (RS). First, the RS model of the robot system as well as its prescribed task is formulated by clarifying the internal and external constraints affecting task realization. All constraints are depicted as unreachable areas in RS model. Then, whether a task is feasible or not is transformed to check 1) if the final repre...
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ژورنال
عنوان ژورنال: Journal of Mechanical Engineering
سال: 2019
ISSN: 0577-6686
DOI: 10.3901/jme.2019.12.037