Hostname: page-component-78c5997874-dh8gc Total loading time: 0 Render date: 2024-11-15T13:24:33.274Z Has data issue: false hasContentIssue false
  • English
  • Français

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)[email protected]
A. Meghdari
Affiliation:
Visiting Research Professor, Division of Engineering, Colorado School of Mines , Golden Colorado 80401-1888, USA, E-mail: [email protected]
M. Durali
Affiliation:
School of Mechanical Engineering, Sharif University of Technology, Tehran 11365–9567 (Iran)[email protected]
Get access Rights & Permissions [Opens in a new window]

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

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)