Zobrazeno 1 - 10
of 10
pro vyhledávání: '"Changwu Qiu"'
Publikováno v:
Robotica. 27:539-546
SUMMARYIn this paper, we present an on-line task modification method (OTMM) to realize singularity avoidance for nonredundant and redundant manipulators at the velocity level. The method introduces a correction vector, constructed from the task veloc
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::1999235f41e42b9e11a00d6c05f4356b
https://doi.org/10.1017/s026357470800492x
https://doi.org/10.1017/s026357470800492x
Publikováno v:
Robotica. 27:389-402
SUMMARYThis paper presents a quadratic programming (QP) form algorithm to realize on-line planning of mobile manipulators with consideration for improving the stability level. With Lie group and screw tools, the general tree topology structure mobile
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::d8db8631e5fe72aa2c1c0ca5e34cc260
https://doi.org/10.1017/s0263574708004803
https://doi.org/10.1017/s0263574708004803
Autor:
Changwu Qiu, Qixin Cao
Publikováno v:
Journal of Intelligent and Robotic Systems. 52:101-120
This work studies the dynamic modeling method for a service robot with Omni-directional Mobile ManipulatorS configuration. Based on screw theory, Lie group notations, reciprocal product of twist and wrench, and Jourdain principle, the robot's motion
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::a7a96e4e4fb42ca12e98adf80fe9a5f6
https://doi.org/10.1007/s10846-008-9205-x
https://doi.org/10.1007/s10846-008-9205-x
Publikováno v:
ROBIO
This paper firstly presents a method to formulate the dynamics of the mobile humanoid robot which is composed by the mobile platform and the upper body. As tip-over is an important stable issue for the mobile robot, the dynamic stability constraint i
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::f8c3371fc5c6081031374d6d7e6eaf19
https://doi.org/10.1109/robio.2009.4913033
https://doi.org/10.1109/robio.2009.4913033
Publikováno v:
International Journal of Robotics and Automation. 23
In this work we analyse the general form solution of the Inverse Redundant Kinematics (IRK) problem from a geometric point of view. We propose two new methods, Velocity Projection Constraints Method (VPCM) and On-line Task Modification Method (OTMM),
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::80c1875b636368fba9579dc9acd5cda3
https://doi.org/10.2316/journal.206.2008.1.206-3041
https://doi.org/10.2316/journal.206.2008.1.206-3041
Publikováno v:
CASE
This work analysed the general form of solution for inverse redundant kinematics (IRK) problem in geometry view, and proposed new methods to formulate the obstacle and singularity avoidance as constraints, which were incorporated into standard non-li
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::cdc23f7ac5dd65b4a8fb4e59b32e3042
https://doi.org/10.1109/coase.2006.326882
https://doi.org/10.1109/coase.2006.326882
Publikováno v:
Robot. 35:178
Externí odkaz:
https://explore.openaire.eu/search/publication?articleId=doi_________::bb1c0ff246e7c52f218ce46f6c2df8e1
https://doi.org/10.3724/sp.j.1218.2013.00178
https://doi.org/10.3724/sp.j.1218.2013.00178
Publikováno v:
2008 IEEE International Conference on Robotics & Biomimetics; 2009, p377-382, 6p
Publikováno v:
Robotica; May2009, Vol. 27 Issue 3, p389-402, 14p