Differentially flat designs of underactuated mobile manipulators / Ji-Chul Ryu in Transactions of the ASME . Journal of dynamic systems, measurement, and control, Vol. 132 N° 2 (Mars/Avril 2010)  

Public ISBD [article]  inTransactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 2 (Mars/Avril 2010) . - 06 p. Titre : Differentially flat designs of underactuated mobile manipulators Type de document : texte imprimé Auteurs : Ji-Chul Ryu, Auteur ; Vivek Sangwan, Auteur ; Agrawal, Sunil K., Auteur Année de publication : 2010 Article en page(s) : 06 p. Note générale : Systèmes dynamiques Langues : Anglais (eng) Mots-clés : Control system synthesis Design engineering Mobile robots Motion control Position Torsion Index. décimale : 629.8 Résumé : This paper presents a methodology for design of mobile vehicles, mounted with underactuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. A challenging question of how to perform point-to-point motions in the state space of such a highly nonlinear system, in spite of the absence of some actuators in the arm, is answered in this paper. We show that, by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of underactuated designs is possible, where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows one to efficiently solve the problem of trajectory planning and feedback controller design for point-to-point motions in the state space. The proposed method is illustrated by the example of a mobile vehicle with an underactuated three-link manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...] [article] Differentially flat designs of underactuated mobile manipulators [texte imprimé] / Ji-Chul Ryu, Auteur ; Vivek Sangwan, Auteur ; Agrawal, Sunil K., Auteur . - 2010 . - 06 p. Systèmes dynamiques Langues : Anglais (eng) in Transactions of the ASME . Journal of dynamic systems, measurement, and control > Vol. 132 N° 2 (Mars/Avril 2010) . - 06 p. Mots-clés : Control system synthesis Design engineering Mobile robots Motion control Position Torsion Index. décimale : 629.8 Résumé : This paper presents a methodology for design of mobile vehicles, mounted with underactuated manipulators operating in a horizontal plane, such that the combined system is differentially flat. A challenging question of how to perform point-to-point motions in the state space of such a highly nonlinear system, in spite of the absence of some actuators in the arm, is answered in this paper. We show that, by appropriate inertia distribution of the links and addition of torsion springs at the joints, a range of underactuated designs is possible, where the underactuated mobile manipulator system is differentially flat. The differential flatness property allows one to efficiently solve the problem of trajectory planning and feedback controller design for point-to-point motions in the state space. The proposed method is illustrated by the example of a mobile vehicle with an underactuated three-link manipulator. DEWEY : 629.8 ISSN : 0022-0434 En ligne : http://asmedl.aip.org/getabs/servlet/GetabsServlet?prog=normal&id=JDSMAA00013200 [...]

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