Control of a mobile modular manipulator moving on a slope

Yangmin Li, Yugang Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

14 Citations (Scopus)

Abstract

A mobile modular manipulator which is composed of three-wheeled mobile platform and a four-degree of freedom modular manipulator is investigated. An effective control method is applied to the mobile modular manipulator control in case of moving on a slope. Kinematics model is built up and Euler angles are introduced in the algorithms. Dynamics model is established using constraint Lagrange formulation. A model-based controller is designed for tracking a spatial trajectory in a 3-D space. Computer simulations are performed which will verify the validity of the analytical methodology put out in this paper.
Original languageEnglish
Title of host publicationProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Pages135-140
Number of pages6
Publication statusPublished - 1 Dec 2004
Externally publishedYes
EventProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 - Istanbul, Turkey
Duration: 3 Jun 20045 Jun 2004

Conference

ConferenceProceedings of the IEEE International Conference on Mechatronics 2004, ICM'04
Country/TerritoryTurkey
CityIstanbul
Period3/06/045/06/04

ASJC Scopus subject areas

  • Engineering(all)

Cite this