简论毕业设计机械手外文翻译.docVIP

　　简论毕业设计机械手外文翻译 简论毕业设计机械手外文翻译_外文翻译机械手导读：edonline:5September2006AbstractInthispaper,inethedevelopmentofakinematicallypatiblecontrolframeodularsystemofobilemanipulatorsthatcanteamuptocooperativelytransportamonpayload.Eachindividuallyautonomousmobilemanipulatorconsistsofadiff 毕业设计-机械手专题外文翻译-原文及翻译外文翻译译文题目 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 patible frameic mobile manipulators（2） 原稿出处 Auton Robot (2006) 21:227–242 A kinematically patible frameic mobile manipulators （2）M. Abou-Samah1 , C. P. Tang2 , R. M. Bhatt2 and V. Krovi2(1) MSC Softber 2006 Abstract In this paper, ine the development of a kinematically patible control frameodular system of obile manipulators that can team up to cooperatively transport a mon payload. Each individually autonomous mobile manipulator consists of a differentially-driven obile Robot (R) ounted t (d.o.f) revolute-jointed, planar and passive manipulator arm. The posite ed by placing a payload at the end-effectors of tore) such mobile manipulators, has the capability to acmodate, d 5 6 7 8 9 10 简论毕业设计机械手外文翻译_外文翻译机械手(2)导读：lmobile-manipulatorcontrolscheme.Bothmethodsareevaluatedplementationframephasizesbothvirtualprototyping(VP)andhardentation.Simulationandexperimentalresultsofanexampleofatodulesystemareusedtohighlightthecapabili etect and correct both instantaneous and finite relative configuration errors. The kinematically-patible motion-planning/control frameaintenance of all kinematic (holonomic and nonholonomic) constraints s. Given an arbitrary end-effector trajectory, each individual mobile-manipulator#39;s bi-level hierarchical controller first generates a kinematically- feasible desired trajectory for the R base, -level cooperative control schemes—leader-folloobile-manipulator control scheme. Both methods are evaluated plementation framephasizes both virtual prototyping (VP) and hardentation. Simulation and experimental results of an example of a todule system are used to highlight the capabilities of a real-time local