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Abstract
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Article Information:
Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller
P. Wu and W. Wu
Corresponding Author: W. Wu
Submitted: March 15, 2012
Accepted: March 26, 2012
Published: October 15, 2012 |
Abstract:
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Based on the stability request of robot’s moving on the ground, the motion planning of dual-arm
mobile robot when moving on the ground is studied and the preview control system is applied in the robot
walking pattern generation. Direct question of robot kinematics in the extended task space is analyzed according
to Degrees of Freedom configuration of the dual-arm mobile robot. It is proved that the preview control system
could be used in the generation of robot Center of Mass forward trajectory through the building of double linear
inverted pendulum model of dual-arm mobile robot. The sector gridding search algorithm is proposed and the
reachable workspace which meets the Zero Moment Point stability principle when the robot moving on the
ground is obtained. Tip Trajectory is generated through polynomial interpolation. Each joint curve is calculated
using MATLAB which is imported to virtual physical model. The feasibility of gait generation is verified.
Key words: Extended task space , piecewise polynomial interpolation, sector gridding search algorithm, ZMP stability criterion, , ,
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Abstract
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Cite this Reference:
P. Wu and W. Wu, . Walking Pattern Generation of Dual-Arm Mobile Robot Using Preview Controller. Research Journal of Applied Sciences, Engineering and Technology, (20): 4098-4104.
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ISSN (Online): 2040-7467
ISSN (Print): 2040-7459 |
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