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 language | English |
|---|---|
| Pages (from-to) | 211-218 |
| Number of pages | 8 |
| Journal | Conference on Robotics and Remote Systems- Proceedings |
| Volume | 10 |
| Publication status | Published - 19 Jul 2004 |
| Externally published | Yes |
| Event | 10th International Conference on Robotics and Remote Systems for Hazardous Environments - Gainesville, FL, United States Duration: 28 Mar 2004 → 31 Mar 2004 |
ASJC Scopus subject areas
- Engineering(all)