Dynamic modelling and numerical simulation of a non-holonomic mobile manipulator
Source abstract
Abstract
The main objective of this study is to analyze the dynamic performance and trajectory selection for mobile manipulator used to detect mines. The mobile manipulator under consideration consists of two independently driven wheels mounted on the same axis (Differential Drive) and a robotic arm fixed on it to scan the environment for mines. A Ground Penetration Radar (GPR) as well as a metal detector will be fixed at the end effector. The kinematic analysis will be performed to find the kinematic equations for the forward and inverse kinematics. The equations of motion for the mobile manipulator are derived using Lagrange Equation. Trajectory planning for the robots joints will be designed to suit the task required from the manipulator. The required actuator torques for the different movements of the robot joints will be investigated using different strategies for proper selection of the motors size. The torque history for the actuators are obtained using both quintic and soft motion trajectories for comparison. The way to detect mines is presented, but it is not the main topic of the paper since the control strategy can be used for other applications.
Source: openaire · Quality: candidate unverified · Source record ↗
Research context
OpenAlex topics: Control and Dynamics of Mobile Robots · Robotic Locomotion and Control · Dynamics and Control of Mechanical Systems
SciVX discovery tags are terminology-based. OpenAlex topics are source-provided classifications.
References (14)
Show source-provided references
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