Cooperative Object Manipulation by Suspended Wheeled Mobile Manipulators

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

71

lcsg. Ucrfnus jnktrnh chanrftìs `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 chanrftì 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 chanrftì `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 chanrftì 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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(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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76

Fk w`fj` r fs t`g w`gghs rcmfus ckmAh ckm l crg mgpfjtgm fk

Efa.


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54

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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53

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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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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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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R5Y Zc`c, Z. B., ckm Ckaghgs, O., ‘Bfkgictfjs ckm

Mykcifjs ne c ]`rgg-Q`gghgm

Cooperative Object Manipulation by Suspended Wheeled Mobile Manipulators

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