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 kinematics 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.
Dynamic interaction between the manipulator and vehicle of a mobile manipulator
1999
7 Seiten, 15 Quellen
Conference paper
English
Dynamic Interaction Between the Manipulator and Vehicle of a Mobile Manipulator
British Library Conference Proceedings | 1999
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