Self-motion Manifolds of an 8-DOF Non-holonomic Mobile Manipulator |
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Authors: | YAO Yu-feng ZHAO Jian-wen SUN Li-ning |
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Affiliation: | State Key Laboratory of Robotics and System,Harbin Institute of Technology,Harbin 150081,China |
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Abstract: | For the non-holonomic constraint robot,determining the pose of its end-effector will rely on its joints' displacement and the velocity of its non-holonomic constraint joints as well.Therefore,it becomes increasingly difficult to obtain the analytic solution of its self-motion manifold in the traditional way for solving matrix equation.In this paper,we take the pose of end manipulator as the result of the joint sequential motion based on the mentality of motion equivalence,the structure and the reference vel... |
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Keywords: | wheeled mobile manipulator self-motion non-holonomic constraint redundancy |
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