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Application to Mobile Robot RMP

  • Yunong ZhangEmail author
  • Dongsheng Guo
Chapter
  • 515 Downloads

Abstract

In this chapter, the application of the ZD approach is further investigated to the velocity-level RMP of mobile redundant robot manipulators. That is, by introducing three different ZFs and by exploiting the ZD design formula, we propose, develop, and investigate a velocity-level RMP performance index. Then, based on such a performance and with physical limits considered, the resultant RMP scheme is presented and investigated to remedy the joint-angle drift phenomenon of mobile redundant robot manipulators. Such a scheme is reformulated as a QP, which is solved by a numerical algorithm. With two path-tracking examples, simulation results based on a wheeled mobile robot manipulator substantiate well the effectiveness and accuracy of the proposed velocity-level RMP scheme (as well as show the application prospect of the presented ZD approach once again).

Keywords

Motion Trajectory Robot Manipulator Mobile Manipulator Mobile Platform Circular Path 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  1. 1.School of Information Science and TechnologySun Yat-sen UniversityGuangzhouChina

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