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Dynamic modeling and analysis of a two d.o.f. mobile manipulator

Published online by Cambridge University Press:  06 March 2001

D. Naderi ,
A. Meghdari  and
M. Durali
D. Naderi
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, Tehran 11365–9567 (Iran). ameghdar@mines.edu
A. Meghdari
Affiliation:
Visiting Research Professor, Division of Engineering, Colorado School of Mines , Golden Colorado 80401-1888, USA, E-mail: ameghdar@mines.edu
M. Durali
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, Tehran 11365–9567 (Iran). ameghdar@mines.edu
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Abstract

This paper presents the kinematic and dynamic modeling of a two degrees of freedom manipulator attached to a vehicle with a two degrees of freedom suspension system. The vehicle is considered to move with a constant linear speed over an irregular ground-surface while the end-effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of highly coupled dynamic interaction between the manipulator and vehicle (including the suspension system's effects) have been studied. Finally, simulation results for the end-effector's straight-line trajectory are presented to illustrate these effects.

Keywords

Mobile manipulatorsKinematics & dynamicsPath following

Information

Type
Research Article
Information
Robotica , Volume 19 , Issue 2 , March 2001 , pp. 177 - 185
Copyright
© 2001 Cambridge University Press

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