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Please use this identifier to cite or link to this item:
http://hdl.handle.net/2259/265
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| 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 |
| Appears in Collections: | Journal Articles
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Size | Format |
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| Kinematics.pdf | | 370Kb | Adobe PDF | View/Open |
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