Abstract
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 language | English |
|---|---|
| Pages (from-to) | 331-343 |
| Number of pages | 13 |
| Journal | Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science |
| Volume | 219 |
| Issue number | 3 |
| DOIs | |
| Publication status | Published - 1 Mar 2005 |
| Externally published | Yes |
Keywords
- Kinematics
- Mobile modular manipulator
- Stability
ASJC Scopus subject areas
- Mechanical Engineering