Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints

DOI10.1016/J.APM.2011.10.002zbMath1252.70027OpenAlexW2085465299MaRDI QIDQ693415

A. Nikoobin, Moharam Habibnejad Korayem, H. N. Rahimi

Publication date: 7 December 2012

Published in: Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1016/j.apm.2011.10.002

zbMATH Keywords

mathematical modelingtrajectory planningflexible jointflexible linkmobile manipulator

Mathematics Subject Classification ID

Optimal feedback synthesis (49N35) Robot dynamics and control of rigid bodies (70E60)

Related Items (7)

Trajectory optimization of nonholonomic mobile manipulators departing to a moving target amidst moving obstacles ⋮ Dynamic modeling of cooperative manipulators with frictional contact at the end effectors ⋮ Dynamic modeling and vibration characteristics analysis of flexible-link and flexible-joint space manipulator ⋮ Adaptive spiral dynamics metaheuristic algorithm for global optimisation with application to modelling of a flexible system ⋮ Global mode method for dynamic modeling of a flexible-link flexible-joint manipulator with tip mass ⋮ Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs-Appell formulation ⋮ Research on vibration suppression and trajectory tracking control strategy of a flexible link manipulator

Uses Software

• Unnamed Item
• Ipopt
• bvp4c
• OTIS

Cites Work

• Unnamed Item
• Symbolic-numeric indirect method for solving optimal control problems for large multibody systems
• Optimal motion planning for nonholonomic systems using genetic algorithm with wavelet approximation
• Nonholonomic mechanics and control. With the collaboration of J. Baillieul, P. Crouch, and J. Marsden. With scientific input from P. S. Krishnaprasad, R. M. Murray, and D. Zenkov.
• Optimal dynamics of actuated kinematic chains. II: Problem statements and computational aspects
• On the implementation of an interior-point filter line-search algorithm for large-scale nonlinear programming
• Optimal Control of Rigid-Link Manipulators by Indirect Methods
• A Finite Element/Lagrange Approach to Modeling Lightweight Flexible Manipulators
• Direct trajectory optimization using nonlinear programming and collocation
• Modeling and Control of Elastic Joint Robots

This page was built for publication: Mathematical modeling and trajectory planning of mobile manipulators with flexible links and joints