On a Moving Base Robotic Manipulator Dynamics

There are many occasions where the base of a robotic manipulator is attached to a moving platform, such as on a moving ship, terrain or space shuttle. In this paper a dynamic model of a robotic manipulator mounted on a moving base is derived using both Newton-Euler and Lagrange-Euler methods. The presented models are simulated for a Mitsubishi PA10-6CE robotic manipulator characteristics mounted on a ship platform that is moving on ocean and the results are verified through both methods. In this simulation it is assumed that the inertia of the base of the robot is large enough and is not affected by the manipulator motion. However, the motion of the ship directly influences the dynamics of the manipulator in movements. Results and computation time of the two methods are compared and it is shown that the Newton-Euler method needs less computation time than the Lagrange method.