移动操作系统的运动学耦合

2020 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC) Pub Date : 2020-11-04 DOI:10.1109/ROPEC50909.2020.9258712

Daniel Galvan-Perez, F. Coyotl-Mixcoatl, I. Rivas-Cambero

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引用次数: 0

摘要

移动操作系统是由安装在完整或非完整移动机器人上的机械手组成的机器人系统。这些类型的系统提供了机械臂机器人的灵巧性和移动机器人工作空间的扩展，并且能够到达和工作在机械臂机器人工作空间之外的物体，因此，这些原型具有许多应用吸引力。本文将三自由度拟人机械臂机器人与考虑车轮纵向滑移的四轮差动移动机器人的运动学模型进行了耦合，得到了移动操作系统的完整运动学建模。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Kinematic Coupling of a Mobile Manipulation System

A mobile manipulation system is a robotic system consisting of having a manipulator robot mounted on a holonomic or non-holonomic mobile robot. These types of systems provide the dexterity of the manipulator robot and the extension of the mobile robot's workspace and are capable of reaching and working on objects that are initially outside the workspace of the manipulator robot, therefore, these prototypes are attractive to many applications. In this work, the complete kinematic modeling of a mobile manipulation system is carried out, obtained as a result of coupling the kinematic model of an anthropomorphic manipulator robot with three degrees of freedom and a four-wheel mobile robot of differential configuration in which it considers the longitudinal slippage of the wheels as a part of their modeling.

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2020 IEEE International Autumn Meeting on Power, Electronics and Computing (ROPEC)

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