Full-Text Search:
Home|Journal Papers|About CNKI|User Service|FAQ|Contact Us|中文
《Journal of University of Science and Technology Beijing》 2001-01
Add to Favorite Get Latest Update

Point-point Motion Planning of Wheeled Mobile Manipulator

ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083)  
Based on optimal region of wheeled mobile platform and the relation between mobility and ma- nipulability of wheeled mobile manipulator, a new optimal criterion for wheeled mobile manipulator's point- point motion planning problem was proposed. The criterion includes not only the cost of mobile platform, the cost of manipulator, but also the cost which mobile manipulator takes to go away it's optimal configuration. Finally, the feasibility of the method was proved by simulation.
【CateGory Index】: TP241
Download(CAJ format) Download(PDF format)
CAJViewer7.0 supports all the CNKI file formats; AdobeReader only supports the PDF format.
【References】
Chinese Journal Full-text Database 6 Hits
1 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
2 ZHANG Li-xun,BU Chi-wu1,2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Light Industry,Harbin University of Commerce,Harbin 150028,China);Robust compensation control of mobile manipulator service robot[J];Electric Machines and Control;2009-01
3 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
4 SONG Zuo-shi, YI Jian-qiang, ZHAO Dong-bin (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);SURVEY OF THE CONTROL FOR MOBILE MANIPULATORS[J];Robot;2003-05
5 LI Xin-chun, ZHAO Dong-bin, YI Jian-qiang, SONG Zuo-shi (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China );A coordinated and hierarchical path planning approach for mobile manipulator[J];Manufacturing Automation;2005-05
6 LI Xin-chun,ZHAO Dong-bin,YI Jian-qiang(Laboratory of Complex Systems and Intelligence Science,Institute of Automation,Chinese Academy of Sciences,Beijing 100080,China);Path Planning Simulation for Mobile Manipulators Based on OpenGL[J];Journal of System Simulation;2006-01
【Citations】
Chinese Journal Full-text Database 2 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
2 ZHANG Shuo-sheng\ YU Da-tai (Robotics Research Institute, University of Science and Technology, Beijing\ 100083);TRANSFERRING BETWEEN TWO CONFIGURATIONS FOR CARLIKE MOBILE PLOTFORM EFFECTS ON MANIPULATOR[J];Robot;2001-01
【Co-citations】
Chinese Journal Full-text Database 4 Hits
1 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
2 Tao Ke,Bi Shu-guo,Guo Dan(School of mechanical engineering,Shenyang university of technology,Shenyang Liaoning 110023,China);Modal analysis of the frame of tyre high speed test machine[J];Mechanical Research and Application;2005-05
3 LI Na,ZHAO Xin-hua (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300191,China);Mobile manipulator kinematics model and manipulability measure[J];Journal of Tianjin University of Technology;2006-06
4 Li Xinchun Zhao Dongbin Yi JianqiangInstitute of Automation,Chinese Academy of Sciences,Beijing,100080;Manipulability Analysis for Omnidirectional Mobile Manipulators[J];China Mechanical Engineering;2006-14
【Co-references】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Shuosheng, YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Optimal Configurator of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2000-06
2 ZHANG Shuosheng,YU Datai (Robotics Research Institute, UST Beijing, Beijing 100083,China);Multi-point Motion Planning of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2001-02
3 ZHANG Shuosheng, YU DataiBeijing Institute of Petro-Chemical Technology. Beijing 102600, ChinaRobotics Research Institute, University of Science and Technology Beijing, Beijing 100083, China;Robust Following Controller Design of Wheeled Mobile Manipulator[J];Journal of University of Science and Technology Beijing;2003-01
4 WANG Jian-zhong,QI Wei-wei,SONG Qiu-zhi,DUO Ying-xian(State Key Laboratory of Explosion Science and Technology,Beijing Institute of Technology,Beijing 100081,China);Mobile Robot Fuzzy Control Based on a New Error Model[J];Transactions of Beijing Institute of Technology;2006-03
5 Zhang Shuosheng (Department of Automation,Beijing Institute of Petro-chemical Technology, Beijing 102617) Yu Datai (Robotics Research Institute, Beijing University of Science and Technology, Beijing 100083);Dynamic Model of Wheeled Mobile Manipulator[J];Journal of Beijing Institufe of Petrochemical Technology;2002-02
6 Ma Mingshan Zhu Shaowen(Central China Normal University)Li Xiangwei (Central China Normal University);The Research of Position Technology of Outdoor Mobile Robot[J];TRANSACTIONS OF CHINA ELECTROTECHNICAL SOCIETY;1998-02
7 ZHAO Da-wei,JIANG Li,JIN Ming-he,LIU Hong (Robotic Institute,Harbin Institute of Technology,Harbin 150001,China);Control system of anthropomorphic robotic hand with keeping torque function[J];Electric Machines and Control;2007-05
8 Sun Wei Wang Yaonan (College of Electrical and Information Engineering, Hunan University,Changsha 410082,China);A FUZZY B-SPLINE BASIS NEURAL NETWORK AND ITS APPLICATION TO ROBOTIC TRACKING CONTROL[J];Journal of Dynamics and Control;2005-01
9 LIN Xiong;Fuzzy neural network and its application in intelligent control[J];Computer and Information Technology;2002-01
10 Zhou Gang, et al;Design of Wheeled Mobile Robot Control System Based on DSP TMS320C31[J];ELECTRONICS & AUTOMATION;1999-05
【Secondary References】
Chinese Journal Full-text Database 10 Hits
1 ZHANG Li-xun,BU Chi-wu1,2(1.College of Mechanical and Electrical Engineering,Harbin Engineering University,Harbin 150001,China;2.College of Light Industry,Harbin University of Commerce,Harbin 150028,China);Robust compensation control of mobile manipulator service robot[J];Electric Machines and Control;2009-01
2 Yao Hesheng Anqing teacher college,computer and information college;Simulation system of Rapid Prototyping Manufacturing based on OpenGL and VC++6.0[J];Electronic Technology;2008-05
3 LI Na,ZHAO Xin-Hua (School of Mechanical Engineering, Tianjin University of Technology, Tianjin 300191, China);Motion Planning of Mobile Manipulator Based on Genetic Algorithms[J];Development & Innovation of Machinery & Electrical Products;2007-01
4 QIU Hui-qiang1, JIN Hui2, ZHANG Yan1, GU Lin-yi1, CHEN Ying1 (1.The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University,Hangzhou 310027, China; 2. Machine works, Zhejiang University, Hangzhou 310027, China);Research on Profiling Handle Control Technique for Deep-sea Under Water Manipulator[J];Mechanical & Electrical Engineering Magazine;2005-06
5 SONG Zuo-shi, YI Jian-qiang, ZHAO Dong-bin (Laboratory of Complex Systems and Intelligence Science, Institute of Automation, Chinese Academy of Sciences, Beijing 100080, China);SURVEY OF THE CONTROL FOR MOBILE MANIPULATORS[J];Robot;2003-05
6 LI Na,ZHAO Xin-hua (School of Mechanical Engineering,Tianjin University of Technology,Tianjin 300191,China);Mobile manipulator kinematics model and manipulability measure[J];Journal of Tianjin University of Technology;2006-06
7 YAO He-sheng(Computer and Information School,Anqing Teacher College,Anqing 246011,China);Simulation System of Rapid Prototyping Manufacturing Based on OpenGL[J];Computer Technology and Development;2008-11
8 WANG Mu-lan,XU Kai-yun,RAO Hua-qiu,ZHANG Si-di(Jiangsu Key Laboratory of Advanced Numerical Control Technology,Nanjing Institute of Technology,Nanjing 210013,China);Research on Open Simulation System for Multi-joint Robot Based on Virtual and Physical Model[J];Journal of System Simulation;2007-21
9 Guo Qianjian,Yang Jianguo,Wang Xiushan(Shanghai Jiaotong University,Shanghai 200030,CHN);Exploring on man-machine cooperation manipulator and information integrated technology in advanced manufacturing[J];Modern Manufacturing Engineering;2006-05
10 Chen Gang,Zhang Weigong,Gong Zongyang,Sun Wei,Zhao Maquan(School of Instrument Science and Engineering,Southeast University,Nanjing 210096,China);Coordinated control of multiple manipulators for vehicle robot driver[J];Chinese Journal of Scientific Instrument;2009-09
©2006 Tsinghua Tongfang Knowledge Network Technology Co., Ltd.(Beijing)(TTKN) All rights reserved