Motion planning for a two-link planar robot in a viscous environment

被引：0
|
作者：
Babikian, Sevag [1 ]
Shammas, Elie [1 ]
Asmar, Daniel [1 ]
机构：
[1] Amer Univ Beirut, Dept Mech Engn, Beirut, Lebanon
来源：
2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS) | 2012年
关键词：
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This paper is concerned with gait generation for the simplest underactuated multi-link robot. This robot is realized by a two-link planar system that locomotes in a viscous environment due to the existence of friction pads along its body. The proposed solution of the motion planning problem yields both a control gait for the inter-link angle as well as the location of the friction pad to produce a desired motion of the system.
引用
收藏
页码：888 / 895
页数：8
相关论文
共 50 条
  • [41] Dynamic Analysis of Two-Link Robot Manipulator for Control Design
    Nandy, Gourab
    Chatterjee, Basukinath
    Mukherjee, Amartya
    ADVANCES IN COMMUNICATION, DEVICES AND NETWORKING, 2018, 462 : 767 - 775
  • [42] Dynamic modelling and characterisation of a two-link flexible robot manipulator
    Khairudin, M.
    Mohamed, Z.
    Husain, A. R.
    Ahmad, M. A.
    JOURNAL OF LOW FREQUENCY NOISE VIBRATION AND ACTIVE CONTROL, 2010, 29 (03): : 207 - 219
  • [43] Robust adaptive fuzzy control of a two-link robot arm
    El-Hawwary, M.I.
    Elshafei, A.L.
    International Journal of Robotics and Automation, 2006, 21 (04): : 266 - 272
  • [44] Nonlinear control with acceleration feedback for a two-link flexible robot
    Garcia-Benitez, F.
    Watkins, J.
    Yurkovich, S.
    Control Engineering Practice, 1993, 1 (06) : 989 - 997
  • [45] A COMPARATIVE STUDY OF FEASIBLE TRAJECTORIES FOR AN UNDER-ACTUATED TWO-LINK BIPEDAL WALKING ROBOT WITH HYBRID ZERO DYNAMICS BASED MOTION PLANNING
    Ishwaryaa, Shri S., V
    Kumar, Akshay
    Sangwan, Vivek
    PROCEEDINGS OF ASME 2022 INTERNATIONAL MECHANICAL ENGINEERING CONGRESS AND EXPOSITION, IMECE2022, VOL 5, 2022,
  • [46] Motion control of industrial robots by considering serial two-link robot arm model with joint nonlinearities
    Eui-Jin Kim
    Kenta Seki
    Makoto Iwasaki
    Journal of Mechanical Science and Technology, 2014, 28 : 1519 - 1527
  • [47] Pruning neural networks for a two-link robot control system
    Ni, J
    Song, Q
    COMPUTATIONAL INTELLIGENCE AND BIOINSPIRED SYSTEMS, PROCEEDINGS, 2005, 3512 : 693 - 700
  • [48] Direct Adaptive Fuzzy Control for a Two-Link Space Robot
    Ulrich, Steve
    Sasiadek, Jurek Z.
    2011 16TH INTERNATIONAL CONFERENCE ON METHODS AND MODELS IN AUTOMATION AND ROBOTICS, 2011, : 290 - 295
  • [49] Dynamics and trajectory tracking control of a two-link robot manipulator
    Green, A
    Sasiadek, JZ
    JOURNAL OF VIBRATION AND CONTROL, 2004, 10 (10) : 1415 - 1440
  • [50] Command shaping in tracking control of a two-link flexible robot
    Banerjee, AK
    Singhose, WE
    JOURNAL OF GUIDANCE CONTROL AND DYNAMICS, 1998, 21 (06) : 1012 - 1015
12345