Dynamics Modelling of a Mobile Manipulator with Powered Castor Wheels
文献类型：会议论文
| 作者 | Jia, Wenji; Yang, Guiling; Gu, Lefeng; Zheng, Tianjiang |
| 出版日期 | 2017 |
| 会议日期 | NOV 19-21, 2017 |
| 关键词 | ROBOT |
| 英文摘要 | This paper is devoted to the dynamic modelling of an omnidirectional mobile manipulator. The driving wheels of the mobile platform is powered castor wheels, and the dynamics of the platform is derived by Lagrangian method and the augmented object model. The dynamics of the manipulator atop the platform is obtained by Newton-Euler recursive method. The interaction force between the arm and the platform is also derived to complete the unified model. Finally, a simulation is used to verify the proposed dynamic model. |
| 学科主题 | Automation & Control Systems ; Computer Science ; Engineering ; Robotics |
| ISBN号 | 978-1-5386-3135-5 |
| 源URL | [http://ir.nimte.ac.cn/handle/174433/23390]  |
| 专题 | 会议专题 会议专题_会议论文 |
| 推荐引用方式 GB/T 7714 | Jia, Wenji,Yang, Guiling,Gu, Lefeng,et al. Dynamics Modelling of a Mobile Manipulator with Powered Castor Wheels[C]. 见:. NOV 19-21, 2017. |
入库方式： OAI收割
来源：宁波材料技术与工程研究所
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