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.
|Name||Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)|
|Conference||2nd International Conference on Intelligent Robotics and Applications, ICIRA 2009|
|Period||16/12/09 → 18/12/09|
- Theoretical Computer Science
- Computer Science(all)