Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

Korayem, M. H.; Rahimi, Hamed; Nikoobin, A.

doi:10.1016/j.apm.2011.10.002

Cited by 76 publications

(43 citation statements)

References 22 publications

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“…Simulated measurements for the cost function (19) were generated by solving (17) for the deformation of the beam when a given set of material parameters are assigned. Simulated measurements are taken with sample rate 1Hz, and unless otherwise specified white noise with standard deviation 4% is added.…”

Section: Displacement Sensormentioning

confidence: 99%

“…Inverse problems for hyper redundant mechanisms with different geometric and dynamic conditions include: dynamic modeling of multi-link flexible robotic manipulators [14], calibration of model parameters of flexible manipulator [15], model reduction of rigid-flexible manipulators [16], the approximation of state space equations of flexible link manipulators [17], and modeling and trajectory planning of mobile manipulators with flexible links [18,19]. For elongated hyper-redundant systems, models of one dimensional continua with local Euclidean structure (beam models) are often naturally adopted, due to their suitability in describing the features associated with the slenderness.…”

Section: Introductionmentioning

confidence: 99%

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Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Fattahi

Spinello

2015

Sensing and Bio-Sensing Research

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a b s t r a c tWe present a sensor model comprised of a Timoshenko beam coupled with a linear viscoelastic substrate via a distributed system of compliant elements. The system of governing equations includes the evolution of the kinematic descriptors of the Timoshenko beam and of the interface between the coupling elements and the viscoelastic substrate. This model is used to pose an inverse problem aimed at estimating the constitutive parameters of the substrate from deformation measurements of the beam. The sensing model is demonstrated by comparing its prediction with published experimentally obtained constitutive parameters identifying standard linear viscoelastic material models, showing good agreement between model estimations and experimental results.

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Section: Displacement Sensormentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Fattahi

Spinello

2015

Sensing and Bio-Sensing Research

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“…In Refs. [19] and [20] path planning of flexible mobile robots were considered using indirect approach of optimal control. However, the base trajectories were constrained in these works and the mobile robot had to move along the predefined path.…”

Section: Introductionmentioning

confidence: 99%

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

2012

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This paper presents an optimal control strategy for optimal trajectory planning of mobile robots by considering nonlinear dynamic model and nonholonomic constraints of the system. The nonholonomic constraints of the system are introduced by a nonintegrable set of differential equations which represent kinematic restriction on the motion. The Lagrange's principle is employed to derive the nonlinear equations of the system. Then, the optimal path planning of the mobile robot is formulated as an optimal control problem. To set up the problem, the nonlinear equations of the system are assumed as constraints, and a minimum energy objective function is defined. To solve the problem, an indirect solution of the optimal control method is employed, and conditions of the optimality derived as a set of coupled nonlinear differential equations. The optimality equations are solved numerically, and various simulations are performed for a nonholonomic mobile robot to illustrate effectiveness of the proposed method.

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“…Hence, the aforementioned requirements for these kind of robots will be greatly affected, thus they have to be built massive in order to strength structural stiffness from the perspective of a conventional manner, which enlarges actuator size and increases manufacturing cost. In order to balance these counterpart problems, some researchers has focused on the dynamic modelling and motion planning of flexible robots [1,2]. However, public literatures mainly focused on the serial manipulators, few similar works were found on parallel manipulators.…”

Section: Introductionmentioning

confidence: 99%

Optimal Point-to-Point Motion Planning of Flexible Parallel Manipulator with Multi-Interval Radau Pseudospectral Method

Kong

Chen

2016

MATEC Web of Conferences

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Abstract. Optimal point-to-point motion planning of flexible parallel manipulator was investigated in this paper and the 3RRR parallel manipulator is taken as the object. First, an optimal point-to-point motion planning problem was constructed with the consideration of the rigid-flexible coupling dynamic model and actuator dynamics. Then, the multi-interval Legendre-Gauss-Radau (LGR) pseudospectral method was introduced to transform the optimal control problem into Nonlinear Programming (NLP) problem. At last, the simulation and experiment were carried out on the flexible parallel manipulator. Compared with the line motion of quantic polynomial planning, the proposed method could constrain the flexible displacement amplitude and suppress the residue vibration.

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Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

Cited by 76 publications

References 22 publications

Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Sensing linear viscoelastic constitutive parameters with a Timoshenko beam on a multi-layer foundation: Modeling and simulation

Trajectory planning of mobile robots using indirect solution of optimal control method in generalized point-to-point task

Optimal Point-to-Point Motion Planning of Flexible Parallel Manipulator with Multi-Interval Radau Pseudospectral Method

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