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IMPROVED PERFORMANCE OF A MOBILE MANIPULATOR BY DECOUPLING THE MOTION OF VEHICLE AND ROBOT
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| Author(s) |
D. Schröder; W. Treutterer |
| Abstract |
Today stationary working robots are a common part of industrial production plants. Due to the fixed working space, however, the universal capabilities of a robot cannot be fully used often. On the other hand mobile robot systems are able to handle also complex structured or large workpieces. Such a 'mobile manipulator' makes up a multibody and multidrive system with strong couplings between its elements. This kinetic coupling forces cause dynamic error displacements of vehicle and robot links. Thus in many cases the required accuracy of the endeffector position fails. Subsequently a method will be evaluated which supresses the disturbant displacements by using the inverse mechanical model for decoupling the motions of vehicle and robot. |
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| Filename: | Unnamed file |
| Filesize: | 514.7 KB |
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| Type |
Members Only |
| Date |
Last modified 2021-02-22 by System |
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