Table 1 Engagement of individual actuators against subtasks
From: A two-wheeled machine with a handling mechanism in two different directions
Ser. | Subtask | DOFs associated | Right wheel motor \( \tau_{R} \) | Left wheel motor \( \tau_{L} \) | Linear actuator I \( F_{1} \) | Linear actuator II \( F_{2} \) |
|---|---|---|---|---|---|---|
a | Moving till the picking place | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \) | ✓ | ✓ | × | × |
b | Extension of the IB | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{1} }} \) | ✓ | ✓ | ✓ | × |
c | Extension of the end-effector | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) | ✓ | ✓ | × | ✓ |
d | Reverse motion of the end-effector | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) | ✓ | ✓ | × | ✓ |
e | Contraction of the IB | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{1} }} \) | ✓ | ✓ | ✓ | × |
f | Placing of the object | \( _{{\delta_{R} }} \), \( _{{\delta_{L} }} \), \( _{\theta } \), \( _{{h_{2} }} \) | ✓ | ✓ | × | × |