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Simulation study of a mobile manipulator

Pitts, David T. (author)
University of Toronto
Emami, Reza (author)
University of Toronto
Goldenberg, Andrew A. (author)
University of Toronto
 (creator_code:org_t)
Piscataway, NJ : IEEE Communications Society, 1999
1999
English.
In: 1999 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS, Kyongju, South Korea, 17-21 October 1999. - Piscataway, NJ : IEEE Communications Society. ; , s. 1115-1120
  • Conference paper (peer-reviewed)
Abstract Subject headings
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  • 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 DADS are also presented. An algorithm to tune 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.

Subject headings

TEKNIK OCH TEKNOLOGIER  -- Elektroteknik och elektronik -- Annan elektroteknik och elektronik (hsv//swe)
ENGINEERING AND TECHNOLOGY  -- Electrical Engineering, Electronic Engineering, Information Engineering -- Other Electrical Engineering, Electronic Engineering, Information Engineering (hsv//eng)

Keyword

Onboard space systems
Rymdtekniska system

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Emami, Reza
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Luleå University of Technology

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