Novel design and modeling of a mobile parallel manipulator

Yangmin Li; Qingsong Xu; Yugang Liu

doi:10.1109/ROBOT.2006.1641862

Novel design and modeling of a mobile parallel manipulator

Yangmin Li, Qingsong Xu, Yugang Liu

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-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 language	English
Title of host publication	Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Pages	1135-1140
Number of pages	6
Volume	2006
DOIs	https://doi.org/10.1109/ROBOT.2006.1641862
Publication status	Published - 27 Dec 2006
Externally published	Yes
Event	2006 IEEE International Conference on Robotics and Automation, ICRA 2006 - Orlando, FL, United States Duration: 15 May 2006 → 19 May 2006

Conference

Conference	2006 IEEE International Conference on Robotics and Automation, ICRA 2006
Country/Territory	United States
City	Orlando, FL
Period	15/05/06 → 19/05/06

Keywords

Dynamics
Kinematics
Mobile robots
Modeling
Parallel robots

ASJC Scopus subject areas

Control and Systems Engineering
Software
Artificial Intelligence
Electrical and Electronic Engineering

More information

10.1109/ROBOT.2006.1641862

Cite this

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Novel design and modeling of a mobile parallel manipulator. / Li, Yangmin; Xu, Qingsong; Liu, Yugang.

Proceedings 2006 IEEE International Conference on Robotics and Automation, ICRA 2006. Vol. 2006 2006. p. 1135-1140 1641862.

Research output: Chapter in book / Conference proceeding › Conference article published in proceeding or book › Academic research › peer-review

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Novel design and modeling of a mobile parallel manipulator

Abstract

Conference

Keywords

ASJC Scopus subject areas

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