Title :
Modeling and motion planning of a three-link wheeled mobile manipulator
Author :
Hu, Y.M. ; Guo, B.H.
Author_Institution :
Coll. of Autom. Sci. & Eng., South China Univ. of Technol., Guangzhou, China
Abstract :
This work set up the kinematics and dynamics modeling of three-link mobile manipulator by using Lagrange dynamics equation and nonholonomic dynamics Routh equation, and the method of artificial potential field was used to drive the mobile manipulator to finish the motion planning. The results of simulation illustrated correctness of the modeling and effectiveness of the method.
Keywords :
Routh methods; manipulator dynamics; manipulator kinematics; mobile robots; path planning; Lagrange dynamics equation; artificial potential field; dynamics modeling; kinematics modelling; motion planning; nonholonomic dynamics Routh equation; three-link wheeled mobile manipulator; Control systems; Educational institutions; Equations; Kinematics; Lagrangian functions; Manipulator dynamics; Mobile robots; Motion control; Motion planning; Wheels;
Conference_Titel :
Control, Automation, Robotics and Vision Conference, 2004. ICARCV 2004 8th
Print_ISBN :
0-7803-8653-1
DOI :
10.1109/ICARCV.2004.1468979
