0xBotCrafter / Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator
针对解决轮式移动机械臂在复杂环境中执行灵巧作业的需求，开展了面向冗余轮式移动机械臂的考虑任务优先级的位形优化研究。首先建立了整机运动学模型，然后基于任务优先级框架开展了面向车-臂双轨迹跟踪、避奇异位形、避关节极限等多任务目标的位形优化的研究，最后进行了复杂工况仿真，验证了方法的有效性。
☆21Updated last year
Alternatives and similar repositories for Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator:
Users that are interested in Modelling-and-Motion-Planning-Research-of-Wheeled-Mobile-Manipulator are comparing it to the libraries listed below
- 这是一个针对六轴机械臂的控制方案仿真项目，仿真平台为simulink。本项目提供了六轴机械臂的simulink动力学模型，并尝试使用不同的控制方案对其进行轨迹跟踪控制。☆21Updated last year
- 该项目由 MathWorks 提供。用于机械臂轨迹生成和评估的 MATLAB 和 Simulink 示例☆11Updated last year
- 这是我在硕士期间的一部分研究：基于（非线性）模型预测控制的移动机械臂（mobile manipulator）运动规划与控制。计划开源几个最简单的demo实现。☆54Updated 9 months ago
- 本项目为归档项目包，不再更新维护，该项目可作为机器人相关专业的本科生和研究生进行学习和参考的资料。 项目首先对PUMA560机械臂的基本结构和参数进行了介绍，对其运动学特性进行了分析并给出了正逆运动学的完整算法。其次，建立了PUMA560的三维模型，制作了机器人的URDF网…☆32Updated 4 months ago
- Task-space controllers for KUKA iiwa14, including PD controller, feedforward controller, sliding mode controller, adaptive neural-network…☆41Updated 2 years ago
- 基于matlab仿真的puma560机械臂RRT路径规划算法☆48Updated 3 years ago
- Admittance Control Based on End Effector Position and Velocity and Experiments on KUKA☆15Updated last year
- 使用RRT采样对六轴机械臂进行路径规划☆19Updated 2 years ago
- Robotics Motion Planning(RRT and PRM with Puma 560/ Peter Corke Matlab Toolbox)☆16Updated 7 years ago
- This is the full analysis of the forward, inverse kinematics, trajectory planning, path planning, and controlling the end effector.☆60Updated 4 years ago
- by using velocity Jacoby matrix method and a sliding mode controller, making a trajectory tracking of the robotic arm named Innfos-Gluon-…☆28Updated 4 years ago
- Dual_Arm_Robot matlab code☆16Updated 4 years ago
- RRT系列算法解决机械臂的避障轨迹规划☆33Updated 4 years ago
- 基于adams和simulink建立了七自由度机械臂模型和控制方案。☆36Updated 3 years ago
- The project aims to make the mobile manipulator youBot pick a cube from an initial configuration and transport it to a desired location b…☆13Updated 4 years ago
- Simulated a 7-DOF Robotic Arm (kuka lwr arm) and also to plan the trajectories using ROS for a collision free movement☆36Updated 6 years ago
- Inverse dynamics of a robotic manipulator of any DOF using Lagrange Euler Dynamic Formulation (Energy Method). The inputs are the joint s…☆23Updated 10 months ago
- In this repository, the implementation of forward and inverse kinematics by redundancy resolution is presented for KUKA on linear axis 7-…☆39Updated 2 years ago
- Dynamic path planning for 6 DoF manipulator based on RRT☆10Updated 4 years ago
- 络石机械臂动力学相关算法以及仿真☆29Updated 11 months ago
- add A* rrt rrt* 2d 3d alg.☆30Updated 3 years ago
- Dynamic path planning for 6 DoF manipulator based on RRT☆19Updated 4 years ago
- In this repository, trajectory planning for a 6DOF manipulator is implemented. Synchronization and numerical control are applied. In addi…☆31Updated 2 years ago
- This repository performs the kinematic, Dynamic analysis and trajectory planning for IRB 6620 Industrial robot using MATLAB. A detailed r…☆16Updated 2 years ago
- 项目相关 -- 包括机械臂运动学、动力学建模，轨迹规划以及运动控制仿真的相关代码☆28Updated 4 years ago
- ☆43Updated last year
- Implementing forward and backward kinematics of robot arm, avoid obstacles, circle trajectory planning and multi-track continuous motion.☆20Updated 4 years ago
- Robot arm design and Trajectory planning using minimum-snap/机械臂设计及其定点转动Minimum-Snap轨迹规划☆26Updated 5 years ago
- Description: During my MSc Course, I developed a simulation of the kinematic model of a 6 DOF robot, along with trajectory plans. Objec…☆11Updated 3 years ago
- Modelling and Ccntrol of vuarious manipulators using MATLAB, Simulink and ADAMS☆10Updated 5 years ago