Dynamics and model-based control for mobile modular manipulators
نویسندگان
چکیده
SUMMARY The dynamic modeling and trajectory following issues are addressed for mobile modular manipulators. Simulations are performed to validate the proposed algorithms. I. INTRODUCTION Usually, modular manipulators are mounted on a fixed base whose mobility is constrained. We attach a mobile platform to the bottom of the manipulator to increase workspace. In related research work, dynamic characteristics between platform and the manipulator were studied.
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ورودعنوان ژورنال:
- Robotica
دوره 23 شماره
صفحات -
تاریخ انتشار 2005