دورية أكاديمية
Time and Energy Optimal Trajectory Planning of Wheeled Mobile Dual-Arm Robot Based on Tip-Over Stability Constraint
العنوان: | Time and Energy Optimal Trajectory Planning of Wheeled Mobile Dual-Arm Robot Based on Tip-Over Stability Constraint |
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المؤلفون: | Xianhua Li, Yuping Gu, Liang Wu, Qing Sun, Tao Song |
المصدر: | Applied Sciences, Vol 13, Iss 6, p 3780 (2023) |
بيانات النشر: | MDPI AG, 2023. |
سنة النشر: | 2023 |
المجموعة: | LCC:Technology LCC:Engineering (General). Civil engineering (General) LCC:Biology (General) LCC:Physics LCC:Chemistry |
مصطلحات موضوعية: | wheeled mobile dual-arm robot, tip-over stability constraint, trajectory planning in joint space, quintic B-spline curve, improved NSGA-II algorithm, Technology, Engineering (General). Civil engineering (General), TA1-2040, Biology (General), QH301-705.5, Physics, QC1-999, Chemistry, QD1-999 |
الوصف: | Trajectory planning and avoidance of tipping are the main keys to success in the mobile dual-arm manipulation, especially when the dual-arm or moving platform is running fast. The forces and moments between wheel-terrain and body-arm have been analyzed by kinematics and force analysis of a robot to define tip-over stability constraint. Then, an improved tip-over moment stability criterion for a wheeled mobile dual-arm robot is presented and defines tip-over stability constraint based on it. To improve the motion stability of the robot, this paper presents an optimal joint trajectory planning model based on time and energy. The quintic B-spline curve and an improved NSGA-II algorithm, which are time and energy, are applied to multi-objective optimization. The simulation results show that the motion stability of a robot is improved based on the tip-over stability constraint. This trajectory planning method based on the stability constraint can be applied to other mobile robots as well. |
نوع الوثيقة: | article |
وصف الملف: | electronic resource |
اللغة: | English |
تدمد: | 2076-3417 |
Relation: | https://www.mdpi.com/2076-3417/13/6/3780; https://doaj.org/toc/2076-3417 |
DOI: | 10.3390/app13063780 |
URL الوصول: | https://doaj.org/article/a7e1433254974753aa0dcb21fb6b6d97 |
رقم الأكسشن: | edsdoj.7e1433254974753aa0dcb21fb6b6d97 |
قاعدة البيانات: | Directory of Open Access Journals |
تدمد: | 20763417 |
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DOI: | 10.3390/app13063780 |