The Study on Coordinated control of Mobile Manipulator
This article mainly studies the coordinated control of mobile manipulator which works in the circumstance of chemistry dangerous leakage from the chemistry dangerous facilities. First ，this article studies the kinematics and dynamics of Hebut- mobile manipulator. Secondly, based on dynamics of sub-models--manipulator and wheeled mobile vehicle, the whole dynamics model of mobile manipulator established. Thirdly, we use the excellent characteristics of artificial neural network (ANN) in studying and fault-tolerant, to design mobile manipulator controllers separately to solve the coupling between manipulator and mobile vehicle and to compensate the torque in order to realize the coordinated movements between manipulator and mobile vehicle.
mobile manipulator wheeled mobile vehicle nonholonomic constraints kinematics models dynamics models artificial neural network
LIU Bing ZHOU Hailin WANG Changlong GU Zhifeng
Department of electric engineering, Ordnance Engineering College, Shijiazhuang, 050003
国际会议
北京
英文
2007-08-05（万方平台首次上网日期，不代表论文的发表时间）