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Mobile manipulator modeling with Kane's approach

Published online by Cambridge University Press:  30 October 2001

Herbert G. Tanner  and
Kostas J. Kyriakopoulos
Herbert G. Tanner
Affiliation:
Control Systems Laboratory, Dept. of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou St., 15 780 Zografou, Athens (GREECE){htanner,kkyria}@central.ntua.gr
Kostas J. Kyriakopoulos
Affiliation:
Control Systems Laboratory, Dept. of Mechanical Engineering, National Technical University of Athens, 9 Heroon Polytechniou St., 15 780 Zografou, Athens (GREECE){htanner,kkyria}@central.ntua.gr
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Abstract

A wheeled mobile manipulator system is modeled using Kane's dynamic equations. Kane's equations are constructed with minimum effort, are control oriented and provide both physical insight and fast simulations. The powerful tools of Kane's approach for incorporating nonholonomic motion constraints and bringing noncontributing forces into evidence are exploited. Both nonholonomic constraints associated with slipping and skidding as well as conditions for avoiding tipping over are included. The resulting equations, along with the set of constraint equations provide a safe and complete framework for developing control strategies for mobile manipulator systems.

Keywords

Manipulator modelingKane's approachNonholonomic restraintsControl strategies
Type
Research Article
Information
Robotica , Volume 19 , Issue 6 , September 2001 , pp. 675 - 690
Copyright
© 2001 Cambridge University Press

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