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Dynamic modeling and analysis of a two d.o.f. mobile manipulator

Naderi, D ; Sharif University of Technology | 2001

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  1. Type of Document: Article
  2. DOI: 10.1017/S0263574700003131
  3. Publisher: 2001
  4. Abstract:
  5. This paper presents the kinematic and dynamic modeling of a two degrees of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an irregular ground-surface while the end-effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of highly coupled dynamic interaction between the manipulator and vehicle (including the suspension system's effects) have been studied. Finally, simulation results for the end-effector's straight-line trajectory are presented to illustrate these effects
  6. Keywords:
  7. Kinematics & dynamics ; Mobile manipulators ; Path following
  8. Source: Robotica ; Volume 19, Issue 2 , 2001 , Pages 177-185 ; 02635747 (ISSN)
  9. URL: https://www.cambridge.org/core/journals/robotica/article/abs/dynamic-modeling-and-analysis-of-a-two-dof-mobile-manipulator/4B1019A8289F33B5DFBF1C0F8A981A59