外文翻译
译文题目一种与移动机械臂的部分零件所受载荷相协调的运动结构（2）
原稿题目Aki
ematicallycompatibleframeworkforcooperativepayloadtra
sportby
o
holo
omicmobilema
ipulators（2）
原稿出处Auto
Robot200621227242
fAki
ematicallycompatibleframeworkforcooperativepayloadtra
sportby
o
holo
omicmobilema
ipulators（2）
MAbouSamah1CPTa
g2RMBhatt2a
dVKrovi2
1MSCSoftwareCorporatio
A
ArborMI48105USA2Mecha
icala
dAerospaceE
gi
eeri
gStateU
iversityofNewYorkatBuffaloBuffaloNY14260USAReceived5August2005Revised25May2006Accepted30May2006Publishedo
li
e5September2006
AbstractI
thispaperweexami
ethedevelopme
tofaki
ematicallycompatibleco
trolframeworkforamodularsystemofwheeledmobilema
ipulatorsthatca
teamuptocooperativelytra
sportacommo
payloadEachi
dividuallyauto
omousmobilema
ipulatorco
sistsofadiffere
tiallydrive
WheeledMobileRobotWMRwithamou
tedtwodegreeoffreedomdofrevolutejoi
tedpla
ara
dpassivema
ipulatorarmThecompositewheeledvehicleformedbyplaci
gapayloadatthee
deffectorsoftwoormoresuchmobilema
ipulatorshasthecapabilitytoaccommodatedetecta
dcorrectbothi
sta
ta
eousa
dfi
iterelativeco
figuratio
errorsTheki
ematicallycompatiblemotio
pla
i
gco
trolframeworkdevelopedhereisi
te
dedtofacilitatemai
te
a
ceofallki
ematicholo
omica
d
o
holo
omicco
strai
tswithi
suchsystemsGive
a
arbitrarye
deffectortrajectoryeachi
dividualmobilema
ipulatorsbilevelhierarchicalco
trollerfirstge
eratesaki
ematicallyfeasibledesiredtrajectoryfortheWMRbasewhichisthe
trackedbyasuitablelowerlevelposturestabilizi
gco
trollerTwovaria
tsofsystemlevelcooperativeco
trolschemesleaderfollowera
ddece
tralizedco
trolarethe
createdbasedo
thei
dividualmobilema
ipulatorco
trolschemeBothmethodsareevaluatedwithi
a
impleme
tatio
frameworkthatemphasizesbothvirtualprototypi
gVPa
dhardwarei
theloopHILexperime
tatio
Simulatio
a
dexperime
talresultsofa
exampleofatwomodulesystemareusedtohighlightthecapabilitiesofarealtimelocalse
sorbasedco
trollerforaccommodatio
detectio
a
dcorectio
ofrelativeformatio
errorsKeywordsCompositesystemHardwarei
theloopMobilema
ipulatorPhysicalcooperatio
Redu
da
cyresolutio
Virtualprototypi
g
Ki
ematiccollaboratio
oftwomobilema
ipulators
We
owexami
etwovaria
tsofsystemlevelcooperativeco
trolschemesleaderfollowera
ddece
tralizedco
trolthatca
becreatedbasedo
thei
dividualmobilema
ipulatorco
trolscheme
fLeaderfollowerapproach
Thefirstmethodofmodeli
gsuchasystemco
sidersthemidpoi
tofthemobilebaseMPBofthemobilema
ipulatorBtoberigidlyattachedtothee
deffectorofmobilema
ipulr