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Please use this identifier to cite or link to this item: http://hdl.handle.net/2259/265

Title: Kinematics and Dynamics of Co-operating Manipulations on a Mobile Base
Authors: Swain, Anjan Kumar
Morris, Alan S.*
Zalzala, Ali M.S.*
Keywords: Kintetics
Mobile Base
Issue Date: 13-Jul-2006
Abstract: This paper describes the kinetics and dynamics of multiple robotic arms mounted on a mobile base and co-operatively handling a common object. The presence of closed kinematic chains along with a mobile base of comparable mass and inertia with rest of the system makes the whole system dynamic analysis extremely complex. An attempt has been made to derive a complete unified dynamic model and the simulation algorithms for a general type of co-operative robotic system, with maximum emphasis on space robotic systems. All the derivations have been made in relation to space free-flying and free-floating robot manipulations.
Description: * External Author This is a scholarly article.
URI: http://hdl.handle.net/2259/265
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