Kinematics and Dynamics of Co-Operating Manipulators on a Mobile Platform
Kumar Swain, Anjan , Morris, A.S. and Zalzala, Ali M.S.
(1999)
Kinematics and Dynamics of Co-Operating Manipulators on a Mobile Platform.
Research Report.
ACSE Research Report 747
.
Department of Automatic Control and Systems Engineering
Abstract
This paper describes the kinematics and dynamics of multiple robotic arms mounted on a mobile platform and cooperatively handling a common object. The presence of closed kinematic chains along with a mobile platform of comparable mass and inertia with the rest of the system makes the whole system dynamic analyisis extremely complex. An attempt has been mnade to derive a complete unified dynamic model and the simulation algorithms for a general type of cooperative robotic system, with maximum emphasis on space robotic systemns. All the derivations has been made in relation to space free-flying and free-floating robot manipulators.
Metadata
Item Type:
Monograph
Authors/Creators:
Kumar Swain, Anjan
Morris, A.S.
Zalzala, Ali M.S.
Copyright, Publisher and Additional Information:
The Department of Automatic Control and Systems Engineering research reports offer a forum for the research output of the academic staff and research students of the Department at the University of Sheffield. Papers are reviewed for quality and presentation by a departmental editor. However, the contents and opinions expressed remain the responsibility of the authors. Some papers in the series may have been subsequently published elsewhere and you are advised to cite the later published version in these instances.
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