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Time and Energy Optimal Trajectory Planning of Wheeled Mobile Dual-Arm Robot Based on Tip-Over Stability Constraint

التفاصيل البيبلوغرافية
العنوان: Time and Energy Optimal Trajectory Planning of Wheeled Mobile Dual-Arm Robot Based on Tip-Over Stability Constraint
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
الوصف
تدمد:20763417
DOI:10.3390/app13063780