Motion planning of mobile multi-limb robotic systems subject to force and friction constraints
نویسندگان
چکیده
Multi-limb, mobile robotic systems will need to apply large forces over large ranges of motion. This paper presents the Force-Workspace Approach which can be used to plan the activities of such systems allowing them to execute such tasks without violating actuation limits, frictional constraints with their environments, and joint range of motion limits. The technique is applied to a robotic climbing machine.
منابع مشابه
The Force Workspace: a Tool for the Design and Motion Planning of Multi–limb Robotic Systems
The Force Workspace (FW) is a tool for designing mobile robotic systems which apply large forces over large ranges of motion. It can also be used to plan motions that do not violate actuator saturation limits, system-environment force and moment contact constraints such as those due to friction, and kinematic joint limits. The FW is applied to the design analysis and motion planning of a simple...
متن کاملPlanning Motions of Robotic Systems Subject to Force and Friction Constraints with an Application to a Robotic Climber
Multi-limb robots able to apply large forces over large ranges of motion are needed for many tasks. These tasks may strain a system’s actuation capabilities and its ability to maintain secure contact with its environment. The Force-Workspace Approach is presented and used to plan a system’s activities without violating actuation limits or frictional constraints with their tasks and environments...
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تاریخ انتشار 1992