一种和移动机械臂的部分零件所受载荷相协_调的运动结构外文翻译.docVIP

外文翻译 译文题目 一种与移动机械臂的部分零件所受载荷相协调的运动结构（2） 原稿题目 A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators（2） 原稿出处 Auton Robot (2006) 21:227–242 A kinematically compatible framework for cooperative payload transport by nonholonomic mobile manipulators （2） M.?Abou-Samah1?, C.?P.?Tang2?, R.?M.?Bhatt2?and V.?Krovi2? (1)?MSC Software Corporation, Ann Arbor, MI?48105, USA (2)?Mechanical and Aerospace Engineering, State University of New York at Buffalo, Buffalo, NY?14260, USA Received: 5?August?2005??Revised: 25?May?2006??Accepted: 30?May?2006??Published online: 5?September?2006 Abstract??In this paper, we examine the development of a kinematically compatible control framework for a modular system of wheeled mobile manipulators that can team up to cooperatively transport a common payload. Each individually autonomous mobile manipulator consists of a differentially-driven Wheeled Mobile Robot (WMR) with a mounted two degree-of-freedom (d.o.f) revolute-jointed, planar and passive manipulator arm. The composite wheeled vehicle, formed by placing a payload at the end-effectors of two (or more) such mobile manipulators, has the capability to accommodate, detect and correct both instantaneous and finite relative configuration errors. The kinematically-compatible motion-planning/control framework developed here is intended to facilitate maintenance of all kinematic (holonomic and nonholonomic) constraints within such systems. Given an arbitrary end-effector trajectory, each individual mobile-manipulators bi-level hierarchical controller first generates a kinematically- feasible desired trajectory for the WMR base, which is then tracked by a suitable lower-level posture stabilizing controller. Two variants of system-level cooperative control schemes—leader-follow