Title :
Kinetic simulation of a 5-DOF wheeled suspension mobile manipulator
Author :
Li Peng ; Zhao Xin-hua ; Yang Yu-Wei ; Huang Wei-Ming
Author_Institution :
Sch. of Mech. Eng., Tianjin Univ. of Technol., Tianjin, China
Abstract :
Based on multi-body dynamic, a systematical research on dynamic problem of 5 DOF wheeled suspension mobile manipulator was presented. By utilizing synthetically the Lagrange theory and Newton-Euler equation, the forward and inverse dynamics model was modeled in the Cartesian coordinate system. Finally by using the Matlab software, the differential equation of manipulator´s inverse dynamic model which was rewritten in the form of state space was solved.
Keywords :
Newton method; differential equations; manipulator dynamics; mobile robots; suspensions (mechanical components); 5-DOF wheeled suspension mobile manipulator; Cartesian coordinate system; Lagrange theory; Matlab software; Newton-Euler equation; degrees-of-freedom; differential equation; forward dynamics model; inverse dynamics model; manipulator kinetic simulation; state space form; Analytical models; Equations; Manipulator dynamics; Mathematical model; Mobile communication; Suspensions; kinetic; simulation; wheeled suspension;
Conference_Titel :
Mechatronics and Automation (ICMA), 2014 IEEE International Conference on
Conference_Location :
Tianjin
Print_ISBN :
978-1-4799-3978-7
DOI :
10.1109/ICMA.2014.6885839
