Abstract
This paper addresses issues of how to build the hybrid kinematics and dynamics models for a mobile modular manipulator. The traditional method to derive the robotic differential kinematics is called geometric Jacobian method, which is difficult to approach the mobile modular manipulator. This paper proposes a kind of direct differential method to analyze the kinematics of the mobile modular manipulator. The direct differential method is more accurate and easier to realize by computer simulation. An implementation example is illustrated and computer simulation results are obtained. As for the dynamics analysis, Lagrange formulation is used to set up the dynamics model. This paper will lay a good foundation for studying the behaviors of mobile modular manipulator.
| Original language | English |
|---|---|
| Pages (from-to) | 1767-1770 |
| Number of pages | 4 |
| Journal | Canadian Conference on Electrical and Computer Engineering |
| Volume | 3 |
| Publication status | Published - 1 Oct 2003 |
| Externally published | Yes |
| Event | CCECE 2003 Canadian Conference on Electrical and Computer Engineering: Toward a Caring and Humane Technology - Montreal, Canada Duration: 4 May 2003 → 7 May 2003 |
Keywords
- Direct differential method
- Kinematics and dynamics
- Mobile modular manipulator
ASJC Scopus subject areas
- Electrical and Electronic Engineering
- Hardware and Architecture