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Simulation study of a mobile manipulator
University of Toronto.
University of Toronto.ORCID iD: 0000-0003-4977-6339
University of Toronto.
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, 1999, Vol. 2, p. 1115-1120Conference paper, Published paper (Refereed)
Abstract [en]

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.

Place, publisher, year, edition, pages
Piscataway, NJ: IEEE Communications Society, 1999. Vol. 2, p. 1115-1120
National Category
Other Electrical Engineering, Electronic Engineering, Information Engineering
Research subject
Onboard space systems
Identifiers
URN: urn:nbn:se:ltu:diva-29336DOI: 10.1109/IROS.1999.812829Scopus ID: 33307219Local ID: 2c7eb273-1b87-4c73-b67e-7184ee0eb6dcOAI: oai:DiVA.org:ltu-29336DiVA, id: diva2:1002559
Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems : 17/10/1999 - 21/10/1999
Note
Upprättat; 1999; 20150108 (ninhul)Available from: 2016-09-30 Created: 2016-09-30 Last updated: 2017-12-15Bibliographically approved

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Emami, Reza

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  • apa
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  • de-DE
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  • nn-NB
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  • Other locale
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Output format
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