Novel design and modeling of a mobile parallel manipulator

Yangmin Li, Qingsong Xu, Yugang Liu

Research output: Chapter in book / Conference proceedingConference article published in proceeding or bookAcademic researchpeer-review

6 Citations (Scopus)

Abstract

A novel design of a mobile parallel manipulator (MPM), which is composed by a multi-degree of freedom (DOF) parallel robot and an autonomous wheeled mobile platform, is proposed in this paper to overcome the shortcomings of the parallel robot and perform high accuracy tasks. Both the position and differential kinematics problems for the hybrid system are solved in details, and the dynamic model for the MPM is derived via Lagrangian formulation approach with simplifying hypotheses. Furthermore, taking the MPM self motion into consideration due to its redundancy, the dynamic control in task space is implemented by employing a model-based controller. Simulation results illustrate that not only the control algorithms are effective well, but also the established dynamic models are accurate enough as well.
Original languageEnglish
Title of host publicationProceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages1135-1140
Number of pages6
Volume2006
DOIs
Publication statusPublished - 27 Dec 2006
Externally publishedYes
Event2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States
Duration: 15 May 200619 May 2006

Conference

Conference2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/TerritoryUnited States
CityOrlando, FL
Period15/05/0619/05/06

Keywords

  • Dynamics
  • Kinematics
  • Mobile robots
  • Modeling
  • Parallel robots

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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