Kane's approach to modeling mobile manipulators

Tanner, HG; Kyriakopoulos, KJ

dc.contributor.author	Tanner, HG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:18:00Z
dc.date.available	2014-03-01T01:18:00Z
dc.date.issued	2002	en
dc.identifier.issn	0169-1864	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/14752
dc.subject	mobile manipulators	en
dc.subject	dynamic modeling	en
dc.subject	Kane equations	en
dc.subject	nonholonomic systems	en
dc.subject.classification	Robotics	en
dc.title	Kane's approach to modeling mobile manipulators	en
heal.type	journalArticle	en
heal.identifier.primary	10.1163/156855302317413745	en
heal.identifier.secondary	http://dx.doi.org/10.1163/156855302317413745	en
heal.language	English	en
heal.publicationDate	2002	en
heal.abstract	The paper presents a detailed methodology for dynamic modeling of wheeled nonholonomic mobile manipulators using Kane's dynamic equations. This methodology allows construction of the dynamic model simply and incrementally. The resulting model is obtained in closed form, it is computationally efficient and provides physical insight as to what forces really influence the system dynamics. Using this methodology, nonholonomic constraints can be directly incorporated within the model without introducing multipliers. The model constructed in the paper includes constraints for no slipping, no skidding and no tipover. The kinematic description of these constraints provides only necessary conditions and description is completed with dynamic expressions which is also sufficient for motion stability. The dynamic model and the constraint relations provide a framework for developing control strategies for mobile manipulators.	en
heal.publisher	VSP BV	en
heal.journalName	ADVANCED ROBOTICS	en
dc.identifier.doi	10.1163/156855302317413745	en
dc.identifier.isi	ISI:000175223900006	en
dc.identifier.volume	16	en
dc.identifier.issue	1	en
dc.identifier.spage	57	en
dc.identifier.epage	85	en