Kinematics and Dynamics of Co-operating Manipulations on a Mobile Base

Swain, Anjan Kumar; Morris, Alan S.*; Zalzala, Ali M.S.*

dc.contributor.author	Swain, Anjan Kumar
dc.contributor.author	Morris, Alan S.*
dc.contributor.author	Zalzala, Ali M.S.*
dc.date.accessioned	2015-03-19T10:43:58Z
dc.date.available	2015-03-19T10:43:58Z
dc.date.issued	2006-07-13
dc.identifier.uri	http://hdl.handle.net/2259/265
dc.description	* External Author This is a scholarly article.	en_US
dc.description.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.	en_US
dc.language.iso	en	en_US
dc.subject	Kintetics	en_US
dc.subject	Mobile Base	en_US
dc.title	Kinematics and Dynamics of Co-operating Manipulations on a Mobile Base	en_US
dc.type	Article	en_US