Hybrid kinematics and stability analysis for the mobile modular manipulator

Yangmin Li, Yugang Liu

Research output: Journal article publicationConference articleAcademic researchpeer-review

2 Citations (Scopus)

Abstract

This paper addresses the following issues: how to build the hybrid kinematics model for the mobile modular manipulator, how to decompose a given task into motions to be carried out by the manipulator or the mobile platform, and what conditions to meet to avoid the mobile modular manipulator from tip-over. In this paper, the posture is described with Z-Y-Z Euler angles, which are more convenient for measurement and control A kind of direct differentiation method is used to analyze the differential kinematics. The inverse kinematics analysis solves the task-decomposing problem mentioned above. Dynamic stability analysis for the mobile modular manipulator during the course of motion is carried out. A simulation is presented in this paper, which illustrates the effectiveness of the method put out in this paper. This paper will lay a good foundation for studying the behaviors of mobile modular manipulator.
Original languageEnglish
Pages (from-to)211-218
Number of pages8
JournalConference on Robotics and Remote Systems- Proceedings
Volume10
Publication statusPublished - 19 Jul 2004
Externally publishedYes
Event10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States
Duration: 28 Mar 200431 Mar 2004

ASJC Scopus subject areas

  • Engineering(all)

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