cooperative object manipulation by suspended wheeled mobile manipulators
TRANSCRIPT
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8/17/2019 Cooperative Object Manipulation by Suspended Wheeled Mobile Manipulators
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3 (
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
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lcsg. Ucrfnus jnktrnh chanrft`is `cvg lggk usgm enr intfnk
jnktrnh ne c inlfhg phctenri, R0-6Y, `nwgvgr ickfpuhctfka
nlogjts ly iuhtfphg cris inuktgm nk c suspgkmgm invfka
lcsg `cs rgicfkgm chinst uktnuj`gm. ]`g Iuhtfphg
Fipgmckjg Jnktrnh (IFJ) fs ck chanrft`i t`ct `cs lggk
mgvghnpgm enr sgvgrch jnnpgrctfka rnlntfj systgis
ickfpuhctfka c jniink nlogjt, R34Y. ]`g IFJ hcw fipnsgs
c rgegrgkjg fipgmckjg tn chh ghgigkts ne c inlfhg systgi,
fkjhumfka fts lcsg, t`g ickfpuhctnr gkm-pnfkts, ckm t`gickfpuhctgm nlogjt ftsghe. ]`fs chanrft`i `cs lggk usgm enr
spcjg ergg-ehygrs ckm fs s`nwk tn afvg annm ickfpuhctfnk
rgsuhts gvgk fk t`g prgsgkjg ne fipcjts mug tn jnktcjt wft`
nlstcjhgs, ckm gxtgrkch mfsturlckjgs, R33Y. ]`g icfk enjus ne
t`fs pcpgr fs nk pgrenrifka nlogjt ickfpuhctfnk tcsbs ly
iuhtfphg ickfpuhctnrs ne c inlfhg rnlntfj systgi gqufppgm
wft` c suspgksfnk crrckagigkt fk c ifxgm jfrjuhcr-strcfa`t
pct` fk mfeegrgkt sjgkcrfns. Efrst, usfka Hcarckag igt`nm t`g
gquctfnks ne intfnks crg mgrfvgm lcsgm nk mfrgjt pct` igt`nm
(MTI). Kgxt, t`g systgi knk-`nhnkninj jnkstrcfkt wfhh lg
mgrfvgm, ckm usfka Kcturch Nrt`nankch Jniphgigkt Igt`nm
t`g fkmgpgkmgkt sgt ne gquctfnks ne intfnk enr t`g systgi fs
mgrfvgm. Efkchhy, t`g IFJ hcw fs cpphfgm tn jnnpgrctfvgickfpuhctfnk ne ck nlogjt ly twn ickfpuhctnrs ]`g nltcfkgm
rgsuhts rgvgch t`g igrfts ne t`g IFJ chanrft`i fk tgris ne
kgahfaflhg sichh trcjbfka grrnrs gvgk fk t`g prgsgkjg ne
fipcjts mug tn jnktcjt wft` nlstcjhgs , sfakfefjckt
mfsturlckjgs ckm gkm-geegjtnrs ehgxflfhfty.
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
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(1)
w`grg k fs t`g tntch kuilgr ne ickfpuhctnrs inuktgm nk
lcsg ckmi
K mgkntgs t`g kuilgr ne t`g onfkts ne t`g t`i
ickfpuhctnr. Ugjtnr J jck lg wrfttgk cs?
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
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Fk w`fj` r fs t`g w`gghs rcmfus ckmAh ckm l crg mgpfjtgm fk
Efa.
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
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p`csg) , ckmmgs
g x x fs t`g nlogjt trcjbfka grrnr. Nk t`g
nt`gr `ckm, cs mgsjrflgm fk R34-33Y, t`g nlogjt gquctfnk ne
intfnk jck lg nltcfkgm cs?
w j n gI x E E E A E (:4)
w`grgw nI , E , E , A
, ckmgE rgprgsgkt icss ictrfx,
vgjtnr ne knkhfkgcr vghnjfty tgris, gxtgrkch enrjgs/tnrqugs,
arcsp ictrfx ckm efkchhy enrjgs/tnrqugs gxgrtgm ly t`g
ickfpuhctnrs gkm geegjtnrs, rgspgjtfvghy. Cs igktfnkgm lgenrg, t`g IFJ hcw gkenrjgs t`g scig fipgmckjg nk vcrfnus
pcrts ne t`g systgi. ]`grgenrg, wg jck wrftg t`g scig
fipgmckjg hcw enr t`g systgi cs?
4 j pm mgs E g~b
~g~b
~g~ I
~ (:3)
w`grgmgs
g x x fs t`g trcjbfka grrnr fk t`g systgi
jnktrnhhgm vcrfclhgs. Cjjnrmfka tn t`g IFJ hcw t`g cpphyfka
enrjgs/tnrqugs jnuhm lg mfvfmgm fk twn pcrts cs enhhnws?
int e c p p (:
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
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7 4.< 3 4.3 17
5 4.3 3 4.3 17
Fk nrmgr tn `fa`hfa`t t`g jcpclfhftfgs ne t`g inlfhg rnlntfj
systgi tnagt`gr wft` t`g IFJ hcw wg `cvg j`nsgk twn
sjgkcrfns. Efrst t`g rnlntfj systgi trcjgs fts pct` wft`nut t`g
prgsgkjg ne t`g mfsturlckjg enrjgs lut fk t`g sgjnkm sjgkcrfn
c mfsturlfka enrjg gquch tn K x K K )sfk(3742:742:74 fscpphfgm nk t`g lcsg nk t`g ernkt rfa`t jnrkgr w`gk t`g lcsg
rgcj`gs i x
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
5<
(c)
(l)Efaurg 7. Ucrfctfnk ne t`g hget & rfa`t w`ggh tnrqugs, (c) wft`nut
mfsturlckjg, (l) wft` mfsturlckjg.
(c)
(l)Efaurg 5. Ucrfctfnk ne t`g lcsg rnhh/pftj` ckahg, (c) wft`nut mfsturlckjg,
(l) wft` mfsturlckjg.
Efa. 1 s`nws t`g nlogjt, efrst ckm sgjnkm gkm geegjtnrs
pnsftfnk grrnr. Cs ft fs sggk, t`grg crg twn pnfkts ne
mfsruptfnk erni knrich trgkms w`fj` jnrrgspnkm tn t`g tfig
ne swftj`fka erni t`g jfrjuhcr pcrt tn t`g strcfa`t pcrt ne t`g
pct`, ckm t`g fipcjt mug tn jnktcjt wft` t`g nlstcjhg,
rgspgjtfvghy. Cetgr t`g jnktcjt, t`g nlogjt trcjbfka grrnr wfhh
ukmgran c stgcmy grrnr w`fj` fiphfgs t`ct t`g IFJ hcw wfhh
knt chhnw t`g nlogjt tn gxpgrfgkjg gxjgssfvg enrjg. Fk nt`gr
wnrms, t`g jcusg ne t`g stgcmy grrnr hfgs fk t`g ecjt t`ct t`g
IFJ hcw jnkjgktrctgs nk t`g nlogjt mykcifjch lg`cvfnr ly
cpphyfka mgefkgm fipgmckjgs lnt` ct t`g nlogjt hgvgh ckm t`g
rnlntfj systgi hgvgh, rct`gr t`ck gxphfjft enrjg/pnsftfnktrcjbfka jnktrnh. Zn cs ft fs sggk t`g nlogjt wfhh jnig fktn
sinnt` stnp ct t`g nlstcjhg, w`fj` s`nws t`g sujjgss ne
cpphyfka t`g mgsfrgm fipgmckjg ckm t`g igrfts ne t`g IFJ
chanrft`i fk tgris ne sinnt` pgrenrickjg, f.g. kgahfaflhg
sichh trcjbfka grrnrs fk t`g prgsgkjg ne fipcjts mug tn
jnktcjt wft` nlstcjhgs ckm sfakfefjckt mfsturlckjgs ckm gkm-
geegjtnr ehgxflfhfty.
Efaurg 1. ]`g nlogjt (tnphget), 3st (tnprfa`t) ckm
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
5:
enr t`g tfig ne gxgrtfka t`g mfsturlckjg lut cetgr t`ct t`g grrnr
cacfk jnkvgrags tn zgrn.
(c)
(l)Efaurg 0. ]`g w`gghs ckahg grrnrs, (c) wft`nut mfsturlckjg, (l) wft`
mfsturlckjg.
Efa. 6 (c) s`nws t`g vcrfctfnk ne t`g vgrtfjch pnsftfnk ne lcsg
jgktgr ne icss (JI) wft` rgspgjt tn tfig. Fk Efa. 6 (l) jck
lg sggk t`ct t`g vgrtfjch pnsftfnk lg`cvgs hfbg c sprfka-icss-
mcipgr systgi uktfh ft gxpgrfgkjgs t`g mfsturlckjg. ]`gk, ft
jnkvgrags tn fts stgcmy-stctg vchug. Ft jck lg sggk t`ct t`g
mfsturlckjg `cs vgry shfa`t geegjts nk t`g nlogjt ckm gkm-geegjtnrs trcjbfka grrnrs sfkjg t`g ickfpuhctnrs cmoust
t`gisghvgs tn enhhnw t`g mgsfrgm trcogjtnrfgs.
(c)
(l)Efaurg 6. ]`g lcsg JI vgrtjch pnsftfnk murfka efrst
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Fktgrkctfnkch Onurkch ne \nlntfjs, Unh. 3, Kn. 3/I.Gshcif, Z.Chf C. Innscvfck
5=
R5Y Zc`c, Z. B., ckm Ckaghgs, O., ‘Bfkgictfjs ckm
Mykcifjs ne c ]`rgg-Q`gghgm