Abstract
This paper presents a modeling method for a Mobile Modular Robot(MMR) which is composed of a mobile platform and a modular manipulator, the kinematics analysis is made for both the mobile platform and the upper manipulator. Then the dynamic equations are formulated considering the nonholonomic constraints and the controller is proposed with both the redundancy resolution and optimization of null space motion. A 5-DOF modular manipulator mounted on the mobile platform is built up to verify the proposed control law in the simulation and the results show the effectiveness of the proposed method. © 2009 Springer-Verlag Berlin Heidelberg.
Cite
CITATION STYLE
Wang, J., & Li, Y. (2009). Dynamic control and analysis of a nonholonomic mobile modular robot. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 5928 LNAI, pp. 776–791). Springer Verlag. https://doi.org/10.1007/978-3-642-10817-4_77
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