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 language | English |
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| Title of host publication | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 |
| Pages | 135-140 |
| Number of pages | 6 |
| Publication status | Published - 1 Dec 2004 |
| Externally published | Yes |
| Event | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 - Istanbul, Turkey Duration: 3 Jun 2004 → 5 Jun 2004 |
Conference
| Conference | Proceedings of the IEEE International Conference on Mechatronics 2004, ICM'04 |
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| Country/Territory | Turkey |
| City | Istanbul |
| Period | 3/06/04 → 5/06/04 |
ASJC Scopus subject areas
- General Engineering