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 |
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| 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 | |
| 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 |
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| 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