Dynamics, control, and path planning of flexible manipulators and mobile robots

柔性机械手和移动机器人的动力学、控制和路径规划

• 批准号: 261945-2007
• 负责人: Fotouhi, Reza
• 金额: $ 1.24万
• 依托单位: University of Saskatchewan
• 依托单位国家: 加拿大
• 项目类别: Discovery Grants Program - Individual
• 财政年份: 2011
• 资助国家: 加拿大
• 起止时间: 2011-01-01 至 2012-12-31
• 项目状态: 已结题
• 来源: https://www.nserc-crsng.gc.ca/ase-oro/Details-Detailles_eng.asp?id=480069
• 关键词: Dynamics; control; path; planning; flexible

The long-term goal of this proposal is to combine research on the dynamics and control of flexible robot manipulators and navigation of mobile robots, into the studies of mobile manipulators. The purpose of mobile robot path planning is to find a path from a start position to a goal position with no collisions. The goal of mobile manipulators is being able to control motion of a robotic arm while it is mounted on a mobile robot and navigating in a crowded known or unknown setting.

本研究的长期目标是将联合收割机的动力学与控制研究和移动的机器人导航研究结合到移动的机器人的研究中。移动的机器人路径规划的目的是寻找一条从起始位置到目标位置的无碰撞路径。移动的机械手的目标是能够控制机器人手臂的运动，同时它安装在移动的机器人上，并在拥挤的已知或未知环境中导航。