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Walking Mobile Robot with Manipulator-Tripod

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Advances on Theory and Practice of Robots and Manipulators

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 22))

Abstract

This paper describes the design of an autonomous mobile robot of a small class, equipped with manipulator-tripod with a swivel block. The robot movements software optimization methods are shown here. The positional problem of manipulator pickup device changing over from the starting position to the set finite one was solved. The trajectory and the law of motion along the trajectory from the minimum pickup device acceleration were synthesized.

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References

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Acknowledgments

This work was supported by The Russian Foundation for Basic Research—grant № 12-08-00 301—a, grant № 13-08-00387-a, grant № 14-01-31376. Authors express their thanks to N. Bolotnik, V. Glazunov and A. Formalsky for reviewing publications that formed the basis of the presented work.

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Authors and Affiliations

  1. Volgograd State Technical University, Volgograd, Russia

    V. Zhoga, A. Gavrilov & V. Skakunov

  2. Volgograd State Agrarian University, Volgograd, Russia

    V. Gerasun, I. Nesmianov, V. Dyashkin-Titov & N. Vorobieva

  3. Keldysh Institute of Applied Mathematics of RAS, Moscow, Russia

    V. Pavlovsky

  4. JSC CCB Titan, Khimki, Russia

    V. Bogatyrev & D. Golubev

Authors
  1. V. Zhoga
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  2. A. Gavrilov
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  3. V. Gerasun
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  4. I. Nesmianov
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  5. V. Pavlovsky
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  6. V. Skakunov
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  7. V. Bogatyrev
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  8. D. Golubev
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  9. V. Dyashkin-Titov
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  10. N. Vorobieva
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Corresponding author

Correspondence to V. Zhoga .

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Editors and Affiliations

  1. Laboratory of Robotics & Mechatronics LARM, University of Cassino and South Latium, Cassino, Italy

    Marco Ceccarelli

  2. Mechanical Engineering Research Institute, RAS, Moscow, Russia

    Victor A. Glazunov

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© 2014 Springer International Publishing Switzerland

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Cite this paper

Zhoga, V. et al. (2014). Walking Mobile Robot with Manipulator-Tripod. In: Ceccarelli, M., Glazunov, V. (eds) Advances on Theory and Practice of Robots and Manipulators. Mechanisms and Machine Science, vol 22. Springer, Cham. https://doi.org/10.1007/978-3-319-07058-2_52

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  • DOI: https://doi.org/10.1007/978-3-319-07058-2_52

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-07057-5

  • Online ISBN: 978-3-319-07058-2

  • eBook Packages: EngineeringEngineering (R0)

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