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.
|Number of pages||8|
|Journal||Conference on Robotics and Remote Systems- Proceedings|
|Publication status||Published - 19 Jul 2004|
|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