Hybrid kinematics and dynamics analysis for a mobile modular manipulator

This paper addresses issues of how to build the hybrid kinematics and dynamics models for a mobile modular manipulator. The traditional method to derive the robotic differential kinematics is called geometric Jacobian method, which is difficult to approach the mobile modular manipulator. This paper proposes a kind of direct differential method to analyze the kinematics of the mobile modular manipulator. The direct differential method is more accurate and easier to realize by computer simulation. An implementation example is illustrated and computer simulation results are obtained. As for the dynamics analysis, Lagrange formulation is used to set up the dynamics model. This paper will lay a good foundation for studying the behaviors of mobile modular manipulator.