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Unified Approach To Control Of Motions Of Mobile RobotsImproved computationally efficient scheme developed for on-line coordinated control of both manipulation and mobility of robots that include manipulator arms mounted on mobile bases. Present scheme similar to one described in "Coordinated Control of Mobile Robotic Manipulators" (NPO-19109). Both schemes based on configuration-control formalism. Present one incorporates explicit distinction between holonomic and nonholonomic constraints. Several other prior articles in NASA Tech Briefs discussed aspects of configuration-control formalism. These include "Increasing the Dexterity of Redundant Robots" (NPO-17801), "Redundant Robot Can Avoid Obstacles" (NPO-17852), "Configuration-Control Scheme Copes with Singularities" (NPO-18556), "More Uses for Configuration Control of Robots" (NPO-18607/NPO-18608).
Document ID
19950070353
Acquisition Source
Legacy CDMS
Document Type
Other - NASA Tech Brief
Authors
Seraji, Homayoun
(Caltech)
Date Acquired
August 16, 2013
Publication Date
October 1, 1995
Publication Information
Publication: NASA Tech Briefs
Volume: 19
Issue: 10
ISSN: 0145-319X
Subject Category
Mechanics
Report/Patent Number
NPO-19508
Accession Number
95B10532
Distribution Limits
Public
Copyright
Work of the US Gov. Public Use Permitted.

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