This paper presents a practical method to establish the kinematics model for the mobile modular manipulator. A tough issue is resolved by decomposing a given task into motions performed by both the manipulator and the mobile platform. A direct differentiation method is used to analyse the differential kinematics. Stability analysis of the mobile manipulator is performed to evaluate the possibility of tip-over; some stability criteria are established. Computer simulations are carried on a real mobile modular manipulator, and ideal results are received to show that the theoretical analysis is feasible and correct.
MasonM. T.PaiD. K.RusD.TaylorL. R.ErdmannMA mobile manipulator, In Proceedings of the IEEE International Conference on Robotics and Automation, 1999, 2322–2327 (IEEE, New York).
2.
TannerH. G.KyriakopoulosK. J.Nonholonomic motion planning for mobile manipulators. In Proceedings of the IEEE International Conference on Robotics and Automation, San Fancisco, California, USA, April 2000, 1233–1238 (IEEE, New York).
3.
CarrikerW. F.KhoslaP. K.KroghB. H.Path planning for mobile manipulators for multiple task execution. IEEE Trans. on Robotics Automn, 1991, 3, 403–408.
4.
PapadopoulosE.PoulakakisJ.Planning and model-based control for mobile manipulators. In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, Takamatsu, Japan, 2000, Vol. 3, 1810–1815 (IEEE, New York).
5.
YamashitaA.AraiT.OtaJ.AsamaH.Motion planning of multiple mobile robots for cooperative manipulation and transportation. IEEE Trans. Robotics Automn, 2003, 19 (2), 223–237.
6.
YamamotoY.YunXEffect of the dynamic interaction on coordinated control of mobile manipulators. IEEE Trans. Robotics Automn, 1996, 5, 816–824.
LiY.LiuX.PengZ.LiuYThe identification of joint parameters for modular robots using fuzzy theory and a genetic algorithm. Robotica, 2002, 20 (5), 509–518.
10.
LiY.LiuY.LiuX.PengZParameters identification and vibration control in modular manipulators. IEEE-ASME Trans. Mechatronics, 2004, 9(4).
11.
LiY.Dynamic stability analysis and control for the mobile manipulator. In Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, 2002, Vol. 1, 554–559 (IEEE, New York).
12.
LiY.LiuY.Hybrid kinematics and dynamics analysis for a mobile modular manipulator. In Proceedings of the IEEE Canadian Conference on Electrical and Computer Engineering, Montréal, Canada4–7 May 2003, 1767–1770 (IEEE, New York).
13.
LiY.LiuYKinematics and stability analysis for the mobile modular manipulator. 10th International Conference on Robotics and Remote Systems for Hazardous Environment, Gainesville, Florida, USA, 28 March-1 April, 2004, 211–218.
14.
de WitC. C.SicilianoB.BastinG.Theory of Robot Control, 1996 (Springer-Verlag, London).
15.
CraigJ. J.Introduction to Robotics: Mechanics and Control, 1989 (Addison-Wesley, Reading, Massachusetts).
