Kinematics and tip-over stability analysis for the mobile modular manipulator

Yangmin Li, Y. Liu

Research output: Journal article publicationJournal articleAcademic researchpeer-review

34 Citations (Scopus)


This paper presents a practical method to establish the kinematics model for the mobile modular manipulator. A tough issue is resolved by decomposing a given task into motions performed by both the manipulator and the mobile platform. A direct differentiation method is used to analyse the differential kinematics. Stability analysis of the mobile manipulator is performed to evaluate the possibility of tip-over; some stability criteria are established. Computer simulations are carried on a real mobile modular manipulator, and ideal results are received to show that the theoretical analysis is feasible and correct.
Original languageEnglish
Pages (from-to)331-343
Number of pages13
JournalProceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science
Issue number3
Publication statusPublished - 1 Mar 2005
Externally publishedYes


  • Kinematics
  • Mobile modular manipulator
  • Stability

ASJC Scopus subject areas

  • Mechanical Engineering

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