In this paper, a novel task-level cooperative-manipulation scheme is proposed for the simultaneous repetitive motion planning (SRMP) of two-manipulator robotic systems. Specifically, to remedy the two-manipulators'...
详细信息
ISBN:
(纸本)9781467397148
In this paper, a novel task-level cooperative-manipulation scheme is proposed for the simultaneous repetitive motion planning (SRMP) of two-manipulator robotic systems. Specifically, to remedy the two-manipulators' jointangle drift phenomenon, a Routh-Hurwitz type performance index is designed and exploited for the first time. two Routh-Hurwitz type subschemes are thus generated for the left and right robot manipulators respectively. Then, the two subschemes are unified as one scheme. Theoretical analysis based on Routh-Hurwitz criterion is presented to show the feasibility and effectiveness of the proposed performance indices. Furthermore, the unified scheme is reformulated as a quadratic program (QP) to be solved in real time. Finally, computer simulations based on two-manipulator robotic systems substantiate the effectiveness and accuracy of the proposed cooperative-manipulation scheme for SRMP.
In this paper,a novel task-level cooperative-manipulation scheme is proposed for the simultaneous repetitive motion planning(SRMP) of two-manipulatorrobotic ***,to remedy the two-manipulators' jointangle drift ph...
详细信息
ISBN:
(纸本)9781467397155
In this paper,a novel task-level cooperative-manipulation scheme is proposed for the simultaneous repetitive motion planning(SRMP) of two-manipulatorrobotic ***,to remedy the two-manipulators' jointangle drift phenomenon,a Routh-Hurwitz type performance index is designed and exploited for the first *** Routh-Hurwitz type subschemes are thus generated for the left and right robot manipulators ***,the two subschemes are unified as one *** analysis based on Routh-Hurwitz criterion is presented to show the feasibility and effectiveness of the proposed performance ***,the unified scheme is reformulated as a quadratic program(QP) to be solved in real ***,computer simulations based on two-manipulator robotic systems substantiate the effectiveness and accuracy of the proposed cooperative-manipulation scheme for SRMP.
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