DocumentCode :
348882
Title :
A simulation study of a mobile manipulator
Author :
Pitts, David T. ; Emami, M. Reza ; Goldenberg, Andrew A.
Author_Institution :
Dept. of Mech. & Ind. Eng., Toronto Univ., Ont., Canada
Volume :
2
fYear :
1999
fDate :
1999
Firstpage :
1115
Abstract :
This paper describes a step by step validation procedure of a mobile manipulator simulation. The procedure includes performing basic model simulations, a sensitivity analysis, and a stochastic output analysis. Static, quasi-static, and dynamic experiments performed on a real system and simulated using DADSTM are also presented. An algorithm to time the model parameters, to match the output of the simulations to the output of the real system, was successfully implemented. Finally, an optimization procedure on the design parameters of the system is discussed
Keywords :
control system analysis computing; digital simulation; manipulators; mobile robots; optimal control; optimisation; sensitivity analysis; stochastic processes; DADS; dynamic experiments; mobile manipulator simulation; optimization; quasi-static experiments; sensitivity analysis; step-by-step validation procedure; stochastic output analysis; Analytical models; Design optimization; Explosives; Kinematics; Laboratories; Manipulator dynamics; Performance analysis; Robotics and automation; Sensitivity analysis; Stochastic processes;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 1999. IROS '99. Proceedings. 1999 IEEE/RSJ International Conference on
Conference_Location :
Kyongju
Print_ISBN :
0-7803-5184-3
Type :
conf
DOI :
10.1109/IROS.1999.812829
Filename :
812829
Link To Document :
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