Z-G-Zhou / 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。
☆18Updated 10 months ago
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。☆43Updated 6 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…☆24Updated last month
- 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。☆18Updated last year
- RRT系列算法解决机械臂的避障轨迹规划☆32Updated 4 years ago
- 基于matlab仿真的puma560机械臂RRT路径规划算法☆45Updated 3 years ago
- Robotics Motion Planning(RRT and PRM with Puma 560/ Peter Corke Matlab Toolbox)☆15Updated 6 years ago
- add A* rrt rrt* 2d 3d alg.☆29Updated 3 years ago
- 使用RRT采样对六轴机械臂进行路径规划☆17Updated 2 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
- Zheng, Dongliang, and Panagiotis Tsiotras. "Accelerating Kinodynamic RRT* Through Dimensionality Reduction." 2021 IEEE/RSJ International …☆37Updated 2 years ago
- Robotic arm path planning using artificial potential field☆14Updated 4 years ago
- This is the full analysis of the forward, inverse kinematics, trajectory planning, path planning, and controlling the end effector.☆58Updated 4 years ago
- A Collision Avoidance and Path Planning Framework implemented for a dual arm Pick and Place robot task simulation. Velocity Obstacles and…☆52Updated 2 years ago
- Mobile Robotics has been evolving as one of the most promising domains in the field of Robotics. The ability of these robots to explore a…☆22Updated 3 years ago
- Simulated a 7-DOF Robotic Arm (kuka lwr arm) and also to plan the trajectories using ROS for a collision free movement☆35Updated 5 years ago
- Simulation of Vision-Based Manipulator Control Algorithms using RoboticsToobox in Matlab☆43Updated last year
- Mobile manipulator simulation. Including agv navigation + robotic arm moveit planning.☆30Updated last year
- Simulation of Kinematic Control: Obstacles Avoidance of Redundant Manipulator☆21Updated 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…☆21Updated 7 months ago
- Dynamic path planning for 6 DoF manipulator based on RRT☆9Updated 4 years ago
- Task-space controllers for KUKA iiwa14, including PD controller, feedforward controller, sliding mode controller, adaptive neural-network…☆36Updated 2 years ago
- 机械臂仿真调试☆13Updated 3 years ago
- This repository contains the Matlab implementation of various controllers such as Inverse Dynamics, Robust , Adaptive and Passivity based…☆23Updated 5 years ago
- by using velocity Jacoby matrix method and a sliding mode controller, making a trajectory tracking of the robotic arm named Innfos-Gluon-…☆27Updated 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☆25Updated 5 years ago
- 7自由度机械臂仿真-空间站抓取悬浮物体；内容涉及正运动学，D-H 建模，逆运动学数值解，只有位置约束的数值解法，路径规划，RRT,广义三次多项式轨迹规划等等。☆68Updated 2 years ago
- Control the ur5 robot with the proportional-derivative and sliding mode control method. The two control methods modify their control gain…☆10Updated 2 years ago
- artificial_potential_fields 2D for ROS☆16Updated last year
- Description: During my MSc Course, I developed a simulation of the kinematic model of a 6 DOF robot, along with trajectory plans. Objec…☆10Updated 2 years ago
- 四自由度码垛机器人轨迹规划算法-采用NSGA-II、7次B样条☆15Updated 9 years ago