| contributor author | Douadi, Lounis | |
| contributor author | Spinello, Davide | |
| contributor author | Gueaieb, Wail | |
| date accessioned | 2017-05-09T01:15:32Z | |
| date available | 2017-05-09T01:15:32Z | |
| date issued | 2015 | |
| identifier issn | 1555-1415 | |
| identifier other | cnd_010_01_011005.pdf | |
| identifier uri | http://yetl.yabesh.ir/yetl/handle/yetl/157230 | |
| description abstract | In this paper, we study the dynamics of an articulated planar mobile robot for confined environment exploration. The mobile vehicle is composed of n identical modules hitched together with passive revolute joints. Each module has the structure of a fourbar parallel mechanism on a mobile platform. The dynamic model is derived using Lagrange formulation. Computer simulations illustrate the model by addressing a path following problem inside a pipe. The dynamic model presented in this paper is the basis for the design of motion control algorithms that encode energy optimization and sensor performance maximization. | |
| publisher | The American Society of Mechanical Engineers (ASME) | |
| title | Dynamics and Control of a Planar Multibody Mobile Robot for Confined Environment Inspection | |
| type | Journal Paper | |
| journal volume | 10 | |
| journal issue | 1 | |
| journal title | Journal of Computational and Nonlinear Dynamics | |
| identifier doi | 10.1115/1.4027303 | |
| journal fristpage | 11005 | |
| journal lastpage | 11005 | |
| identifier eissn | 1555-1423 | |
| tree | Journal of Computational and Nonlinear Dynamics:;2015:;volume( 010 ):;issue: 001 | |
| contenttype | Fulltext | |