Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realiz...
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ISBN:
(数字)9789887581536
ISBN:
(纸本)9781665482561
Mobile manipulator can perform complex operation tasks in a larger workspace,and has great application potential in practical *** at a large unmanned mobile manipulator for autonomous grasping scenes,this paper realizes its multi-functional motion control and ***,this paper analyzes the kinematics models of the manipulator and mobile base,and describes them with D-H parameters;The whole-body kinematics model of the mobile manipulator is obtained by integrating the mobile base and the ***,in order to meet the requirements of path planning and motion simulation of mobile manipulator in different scenarios,this paper designs three different simulation modes and realizes the simulation in virtual environment,the simulation combining actual controller and virtual robot and the simulation of digital twin ***,different experiments are designed to verify the feasibility and effectiveness of the three simulation methods.
The semi-global stabilization problem for a class of nonlinear systems with state time-delay is addressed in this paper. Sufficient conditions are derived by using Lyapunov-Krasovskii functional method and adjusting t...
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In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel...
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In industrial manufacturing,the deployment of dual-arm robots in assembly tasks has become a ***,making the dual-arm robots more intelligent in such applications is still an open,challenging *** paper proposes a novel framework that combines task-oriented motion planning with visual perception to facilitate robot deployment from perception to execution and finish assembly problems by using dual-arm *** this framework,visual perception is first employed to track the effects of the robot behaviors and observe states of the workpieces,where the performance of tasks can be abstracted as a high-level state for intelligent *** assembly task and manipulation sequences can be obtained by analyzing and reasoning the state transition trajectory of the environment as well as the ***,the corresponding assembly manipulation can be generated and parameterized according to the differences between adjacent states by combining with the prebuilt knowledge of the *** are set up with a dual-arm robotic system(ABB YuMi and an RGB-D camera)to validate the proposed *** results demonstrate the effectiveness of the proposed framework and the promising value of its practical application.
Sparse Mobile Crowdsensing (SMCS) achieves urban-scale environmental sensing by assigning tasks to workers in specific subareas and inferring global data from the collected information. However, the effectiveness of S...
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The transition from traditional fossil fuels to renewable energy is becoming increasingly feasible and is essential for addressing energy and environmental challenges. In transportation electrification, the variabilit...
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This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitu...
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This article considers the problem of directing a family of fully actuated surface vessels to cooperatively follow a set of convex and closed orbits with a time-invariant reference orbital velocity and maintain attitude synchronization. A consensusbased adaptive control law under a bidirectional communication topology is proposed to estimate the reference orbital velocity so that the restriction that every vessel in the family must have access to the reference in the previous literature can be *** assumption of nonzero total linear speed of each vessel is removed by the use of potential function. Simulation results demonstrate the effectiveness of the proposed approach.
With the proposal of carbon peak and carbon neutrality targets and the construction of a new power system, improving energy efficiency and reducing carbon emissions have become the key to the sustainable development o...
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A multi-modal emotion recognition method based on facial multi-scale features and cross-modal attention (MS-FCA) network is proposed. The MSFCA model improves the traditional single-branch ViT network into a two-branc...
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This paper develops a matrix-separation-based Lyapunov functional method to study the extended dissipativity analysis and synthesis issue of discrete-time Lur'e-type delayed systems. The advanced idea of matrix-se...
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Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotio...
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Amphibious salamanders often swing their waist to coordinate quadruped walking in order to improve their crawling speed. A robot with a swing waist joint, like an amphibious salamander, is used to mimic this locomotion.A control method is designed to allow the robot to maintain the rotational speed of its legs continuous and avoid impact between its legs and the ground. An analytical expression is established between the amplitude of the waist joint and the step length. Further, an optimization amplitude is obtained corresponding to the maximum stride. The simulation results based on automatic dynamic analysis of mechanical systems（ADAMS） and physical experiments verify the rationality and validity of this expression.
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