Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute–prismatic joints using recursive Gibbs–Appell formulation

Motion Equations Proper for Forward Dynamics of Robotic Manipulator with Flexible Links by Using Recursive Gibbs-Appell Formulation

In this article, a new systematic method for deriving the dynamic equations of motion for exible robotic manipulators is developed by using the Gibbs-Appell assumed modes method. The proposed method can be applied to the dynamic simulation and control system design of exible robotic manipulators. In the proposed method, the link de ection is described by a truncated modal expansion. All the mat...

Virtual teleoperation and reactive motion of a wheeled mobile manipulator

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Dynamics and Motion Control of Wheeled Robotic Systems

Mobile robotic systems, which include a mobile platform with one or more manipulators, mounted at specific locations on the mobile base, are of great interest in a number of applications. In this paper, after thorough kinematic studies on the platform and manipulator motions, a systematic methodology will be presented to obtain the dynamic equations for such systems without violating the base n...

Realtime Coordinated Redundant Motion of a Nonholonomic Mobile Manipulator

In this paper, the problem of coordinated motion control of a nonholonomic mobile platform with a serial manipulator mounted on top of the platform is addressed. The redundancy resolution algorithm bases on a constraint optimization approach, where the non–holonomic behaviour of the platform is modeled into inequality constraints leading to a convex optimization problem.