Modeling and Compensation of the Dynamic Interaction of a Mobile Manipulator
نویسندگان
چکیده
A mobile manipulator composed of a manipulator and a mobile platform has a much larger workspace than a xed-base manipulator. While the on-board manipulator reaches out and performs manipulation tasks, the role of the mobile platform is to position the manipulator in a preferred connguration. In this paper, we study the eeect of the dynamic interaction between the manipulator and the mobile platform of a mobile manipulator on the task performance. We consider the task that the end point of the manipulator tracks a desired trajectory in a xed reference frame. The eeect of the dynamic interaction on the tracking performance is examined by comparing four diierent cases: (1) without any compensation of the dynamic interaction at all; (2) the mobile platform compensates the dynamic interaction caused by the manipulator; (3) the manipulator compensates the dynamic interaction caused by the mobile platform; and (4) with full compensation of the dynamic interaction with each other.
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