TY - GEN
T1 - Dynamic control and analysis of a nonholonomic mobile modular robot
AU - Wang, Jingguo
AU - Li, Yangmin
PY - 2009/12/1
Y1 - 2009/12/1
N2 - This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method.
AB - This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method.
UR - http://www.scopus.com/inward/record.url?scp=76649090351&partnerID=8YFLogxK
U2 - 10.1007/978-3-642-10817-4_77
DO - 10.1007/978-3-642-10817-4_77
M3 - Conference article published in proceeding or book
SN - 3642108164
SN - 9783642108167
T3 - Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
SP - 776
EP - 791
BT - Intelligent Robotics and Applications - Second International Conference, ICIRA 2009, Proceedings
T2 - 2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009
Y2 - 16 December 2009 through 18 December 2009
ER -