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Mobile manipulator modeling with Kane's approach

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National Technical University of Athens   

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Mobile manipulator modeling with Kane's approach (EN)
Kyriakopoulos, KJ (EN)
Tanner, HG (EN)
journalArticle (EN)
2014-03-01T01:16:45Z
2001 (EN)
A wheeled mobile manipulator system is modeled using Kane's dynamic equations. Kane's equations are constructed with minimum effort, are control oriented and provide both physical insight and fast simulations. The powerful tools of Kane's approach for incorporating nonholonomic motion constraints and bringing noncontributing forces into evidence are exploited. Both nonholonomic constraints associated with slipping and skidding as well as conditions for avoiding tipping over are included. The resulting equations, along with the set of constraint equations provide a safe and complete framework for developing control strategies for mobile manipulator systems. (EN)
Robotics (EN)
Manipulator modeling (EN)
Non-holonomic restraints (EN)
Computer simulation (EN)
Matrix algebra (EN)
Manipulators (EN)
Control strategies (EN)
Mobile robots (EN)
Wheeled mobile manipulator (EN)
Computational complexity (EN)
Geometry (EN)
Kane's approach (EN)
Algorithms (EN)
Kane dynamic equation (EN)
Degrees of freedom (mechanics) (EN)
Lagrange multipliers (EN)
Control system synthesis (EN)
Nonholonomic motion constraint (EN)
Constraint theory (EN)
Mathematical models (EN)
Motion control (EN)
Robotica (EN)
English
CAMBRIDGE UNIV PRESS (EN)
National Technical University of Athens
Digital Library of National Technical University of Athens | Dspace@NTUA
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