Kinematics, Dynamics and Motion Planning of Wheeled Mobile Manipulators

Abstract In this paper, We first propose a systematic modeling of the wheeled mobile manipulator built from a robotic arm mounted on a wheeled mobile platform by using Lagrange dynamics equation and nonholonomic dynamics Routh equation. Then we use artificial potential field as part of feedback to accomplish the wheeled mobile manipulator’s motion planning, and its stability is guaranteed by Lyapunov theory. And last, we give some results of simulation to illustrate correctness of the modeling and effectiveness of the method, and we also give rise to our next work.