Investigating Dynamic Interaction between the One D.O.F. Manipulator and Vehicle of a Mobile Manipulator

Authors:
A. Meghdari;M. Durali;D. Naderi
Affiliations:
School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran;School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran/ e-mail: durali@sina.sharif.ac.ir;School of Mechanical Engineering, Sharif University of Technology, Tehran, Iran
Venue:
Journal of Intelligent and Robotic Systems
Year:
2000

Citing 1
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Trajectory tracking of wheeled mobile robot with a manipulator considering dynamic interaction and modeling uncertainty

ICIRA'12 Proceedings of the 5th international conference on Intelligent Robotics and Applications - Volume Part II

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Abstract

A manipulator mounted on a moving vehicle is called a mobile manipulator. A mobile manipulator with an appropriate suspension system can pass over uneven surfaces, thus having an infinite workspace. If the manipulator could operate while the vehicle is traveling, the efficiency concerning with the time and energy used for stopping and starting will be increased.This paper presents the kinematic and dynamic modeling of a one degree 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 uneven surface while the end effector tracks a desired trajectory in a fixed reference frame. In addition, the effects of dynamic interaction between the manipulator and vehicle (including the suspension system"s effects) have been studied. Simulation results from straight line trajectory are presented to illustrate these effects.