Modelling of mobile robot with on board redundant manipulator arm
نویسندگان
چکیده
Manipulators with mobile base are gaining momentum in the industry due to improved workspace and flexible adaptability to changes in the product designs. Although there has been research in this field for a considerable time, many issues are still to be resolved viz. obstacle avoidance, redundancy resolution for singularity avoidance, dynamic analysis of combined manipulator and a mobile robot, base disturbances and optimized motion planning for limited power sources. Meticulous motion planning is a very essential for a mobile robot, particularly when it is carrying an on board manipulator. In this work a three wheeled mobile robot (Robotino) with an on board redundant manipulator (MRBM) or simply mobile manipulator (MM) of eight degrees of freedom is considered for the analysis. Kinematic model of MM is developed first afterwards the Bond graph model of the mobile robot combined with manipulator is developed. Dynamic analysis is performed using the system equations generated from the bond graph model and simulation results are presented for different cases.
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