Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators

Eslamy, Mahdy; Moosavian, S. Ali A.

doi:10.1007/s10846-010-9413-z

Cited by 21 publications

(10 citation statements)

References 27 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A popular approach involves the illumination of the surface examined, with a fringe pattern, observing the effect from an angle. This method of non-contact measurement has been adopted by a number of researchers including Burton and Lalor [3], Halsall [4], Malcolm [5] and Chung [6]. These authors describe methods for determining certain features of the surface examined, with the fringe period and angle known.…”

Section: Non-contact Inspectionmentioning

confidence: 99%

Path Planning for Non-Contact Coordinate Measurement Machine Application in Automobile Quality Inspection Process

Kholkhujaev¹,

Khusnuddinov²

2019

JSID

View full text Add to dashboard Cite

Турин Политехника университети таянч докторанти Ҳуснуддинов Фазлуддин Зухруддин ўғли магистр, Турин Политехника университети кичик илмий ходими Аннотация. Глобаллашув муаммолари нафақат ҳаётнинг ижтимоий ёки сиёсий жиҳатларига таъсир кўрсатади, балки ҳар қандай ишлаб чиқариш тизимлари учун катта муаммоларни келтириб чиқаради. Маҳсулотга бўлган талабнинг бир бирлигига ошиши ва буюртмачининг сифат талабларига мувофиқлиги ишончли ишлаб чиқариш назорат тизимини талаб этади. Маҳсулотлар сифати стандартини такомиллаштириш мавжуд бўлган сифат назорати ва назорат усулларидан фарқли улароқ такомиллашган усулларга ўтишга таъсир кўрсатади. Мақолада кўриб чиқилаётган муаммо Ўзбекистонда автомобилларни ишлаб чиқариш тизими билан узвий боғлиқ. Бироқ мазкур услубиёт жаҳоннинг турли мамлакатларида саноатнинг турли тармоқлари ва технологияларида қўлланилиши мумкин. Мазкур тезисда замонавий саноатнинг иккита асосий талаблари -вақт ва сифатга мос келиши учун саноат буюмларини мувофиқловчи-ўлчаш машиналарида ўлчашга ишончли ўтиш механизмларини ишлаб чиқишга асосий эътибор берилган.Мазкур тезисда замонавий саноатнинг иккита асосий талаблари -вақт ва сифатга мос келиши учун саноат буюмларини мувофиқловчиўлчаш машиналарида ўлчашга ишончли ўтиш механизмларини ишлаб чиқишга асосий эътибор берилган. Таянч т ушунчалар: мувофиқловчи-ўлчаш машиналари, автоматлаштирилган лойиҳалаштириштизими, ROS, ишлаб чиқариш, автомобилсозлик, робототехника, лазерли сканер қилиш, ҳолатни таҳлил қилиш, энг қисқа йўл, механик детали, асбобнинг марказий нуқтаси, контактсиз мувофиқловчи-ўлчаш машинаси. ПЛАНИРОВАНИЕ ПУТИ БЕСКОНТАКТНОЙ КООРДИНАТНО-ИЗМЕРИТЕЛЬНОЙ МАШИНЫ ДЛЯ ПРИМЕНЕНИЯ В ПРОЦЕССЕ КОНТРОЛЯ КАЧЕСТВА АВТОМОБИЛЯ Холхужаев Жасурхужа Мухтор угли базовый докторант, Туринский политехнический университет Хуснуддинов Фазлуддин Зухруддин угли магистр, младший научный сотрудник, Туринский политехнический университет Аннотация. Проблемы глобализации влияют не только на социальные или политические аспекты жизни, но и вызывают большие проблемы для любых производственных систем. Повышение спроса на продукцию в единицу времени и соответствие требованиям заказчика с точки зрения качества требуют надежного контроля производственных систем. Совершенствование стандартов качества продукции влияет на переход к усовершенствованным методам контроля качества и контроля, чем те, которые уже доступны. Проблема, рассматриваемая в cтатье, тесно связана с системами производства автомобилей в Узбекистане. Однако методика также может быть применена в различных отраслях промышленности и технологиях в разных странах мира. Тезис главным образом акцентирует внимание на том, как раз-ТЕХНИЧЕСКИЕ НАУКИ Илм-фан ва инновацион ривожланиш / 2019 №3 76 работать надежный подход к измерению промышленных деталей на координатно-измерительных машинах, чтобы соответствовать двум основным требованиям современной индустрии времени и качества.Ключевые слова: КИМ, САПР, ROS, производство, автомобилестроение, робототехника, лазерное сканирование, анализ положения, кратчайший путь, механические детали, це...

show abstract

Section: Non-contact Inspectionmentioning

confidence: 99%

Path Planning for Non-Contact Coordinate Measurement Machine Application in Automobile Quality Inspection Process

Kholkhujaev¹,

Khusnuddinov²

2019

JSID

View full text Add to dashboard Cite

show abstract

“…In a different way, Hamner, et al in [8] works in the hybridization of locomotion and manipulation, joining a mobile platform and a manipulator in several modes of operation, but treating the mobile part and the arm as different robots. Considering the dynamics of the mobile manipulator, Li, et al in [9] presents an adaptive control strategy for trajectory tracking, Liu, et al in [10] proposes a diffuse control scheme based on integrated dynamic modelling considering nonholonomic constraints and interactive motions, and Eslamy, et al in [11] investigates the dynamics resulting from placing a suspension system on the mobile part of a mobile manipulator in order to analyze the effect of vibration-absorbing systems. These works are mainly based on nonlinear control algorithms, given the nature of robotic systems.…”

Section: Introductionmentioning

confidence: 99%

Energy-Saver Mobile Manipulator Based on Numerical Methods

et al. 2019

View full text Add to dashboard Cite

The work presents the kinematic and dynamic control of a mobile robotic manipulator system based on numerical methods. The proposal also presents the curvature analysis of a path not parameterized in time, for the optimization of energy consumption. The energy optimization considers two aspects: the velocity of execution in curves and the amount of movements generated by the robotic system. When a curve occurs on the predefined path, the execution velocity is analyzed throughout the system in a unified method to prevent skid effects from affecting the mobile manipulator, while the number of movements is limited by the redundancy presented by the robotic system to optimize energy use. The experimental results are shown to validate the mechanical and electronic construction of the system, the proposed controllers, and the saving of energy consumption.

show abstract

“…Coordinated grasping and transporting objects by manipulators is a challenging problem which gets more complicated when the robots are also mobile since the complexity of motions, kinematics, and control increases [4][5]. In the literature, three methods have been used to transport an object by mobile robots: Grasping, Pushing, and Caging [6].…”

Section: Introductionmentioning

confidence: 99%

Cooperative object transportation by multiple mobile manipulators through a hierarchical planning architecture

Hekmatfar

Masehian

Mousavi

2014

2014 Second RSI/ISM International Conference on Robotics and Mechatronics (ICRoM)

View full text Add to dashboard Cite

Although planning a collision-free path for an object alone has long been solved, planning for safe transportation of objects by robots in presence of obstacles is a challenging task due to high dimensions of the system's composite configuration space. This paper addresses the problem of cooperative object transportation by multiple mobile manipulators through a twolayered Centralized-Decentralized architecture. In the higher (centralized) layer a collision-free global path is planned for the object using a novel sampling-based method called Optimallyconnected Random Tree and without considering the space needed for obstacle avoidance of the robots, and in the lower (decentralized) layer the robots locally avoid obstacles and coordinate their motions with each other in order to reach the object and grasp, transport, and place it at the target position. The proposed method was implemented in Webots™ software for KUKA youBot mobile manipulators and its effectiveness was verified through numerous transportation scenarios.

show abstract

Dynamics and Cooperative Object Manipulation Control of Suspended Mobile Manipulators

Cited by 21 publications

References 27 publications

Path Planning for Non-Contact Coordinate Measurement Machine Application in Automobile Quality Inspection Process

Path Planning for Non-Contact Coordinate Measurement Machine Application in Automobile Quality Inspection Process

Energy-Saver Mobile Manipulator Based on Numerical Methods

Cooperative object transportation by multiple mobile manipulators through a hierarchical planning architecture

Contact Info

Product

Resources

About