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Kinematics and dynamics of a hybrid serial-parallel mobile robot

Conference Paper in Proceedings - IEEE International Conference on Robotics and Automation · June 2009
DOI: 10.1109/ROBOT.2009.5152746 · Source: IEEE Xplore

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 2009 IEEE International Conference on Robotics and Automation
Kobe International Conference Center
Kobe, Japan, May 12-17, 2009
Kinematics and Dynamics of a Hybrid Serial-Parallel Mobile Robot
1 2
S. Ali A. Moosavian
Advanced Robotics & Automated Systems (ARAS) Laboratory
Department of Mechanical Engineering, K. N. Toosi Univ. of Technology
Tehran, Iran, P.O. Box 19395-1999, Fax: (+98) 21 8867-4748
Email: moosavian@kntu.ac.ir
Abstract- In this study, kinematics design, dynamics
modeling and verification of a compounded serial-parallel
wheeled mobile robot is elaborated. The proposed novel
kinematic structure is best suited to fulfill stable motion of the
robotic system when handling heavy objects by manipulators
mounted on mobile platforms. The proposed system is made of
a differentially-driven wheeled platform, a planar parallel
manipulator, which is called here as Star-Triangle (ST)
mechanism, and a serial Puma-type manipulator arm. The
suggested structure adopts the advantages of both serial and
parallel robots, to move the base point of the serial robot with
respect to the mobile platform to fulfill the system stability
after grasping heavy objects. In order to investigate the
comprehensive kinematics model of the robot, after introducing
its novel structure it is divided into three modules, i.e. a mobile
platform, a parallel ST mechanism, and a serial robot. Next, a
closed-form dynamics model is derived for the whole hybrid
system based on a combined Newton-Euler and Lagrange
formulation. The proposed method presents the mutual
dynamic interaction wrenches between the integrated platform
and the serial manipulator which can be exploited for the tip-
over stability analysis of the mobile robotic system. Then, to
verify the obtained mathematical model, several benchmark
actuating inputs are applied to the model and the system
responses are analyzed.
Index Terms: Wheeled Mobile Robot- Dynamics modeling-
Planar Parallel Manipulator.
I. INTRODUCTION
Mobile robots have an unlimited workspace. This may be the
main reason for the vast growth of their applications. Such
systems are used in different kinds of fields such as fire
fighting, forestry, dismantling bombs, toxic waste cleanup,
transportation of nuclear materials, and even in military.
Attempts by robotics research community for attaining the
dynamical equations of motion for mobile robots have led to
successful results. However, most of these results suppose
that one or more manipulator arms are attached atop the
platform at a base fixed point. For instance, a systematic
method for the kinematics and dynamics modeling of a two
degree-of-freedom (DOF) Automated Guided Vehicle
(AGV) has been presented by Saha and Angeles, [1]. The
1- Associate Professor
2- Graduate student
978-1-4244-2789-5/09/$25.00 ©2009 IEEE
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2
Alireza Pourreza Khalil Alipour
Lagrangian formulation has been applied to generate the
explicit dynamics model of space free-flying robots, [2]. The
kinematics of differentially-driven and car-like platforms has
been described by Papadopoulos and Poulakakis, [3].
Moosavian and Eslamy have investigated the dynamics as
well as Multiple Impedance Control of a differentially-driven
multiple-arm robotic system to manipulate a common object,
[4]. Forward Recursive Formulation for the dynamics of
multibody systems has been employed to obtain the
governing equation of the nonholonomic mobile manipulator
systems, [5]. The Kane's approach has been reported for the
dynamics of cooperating mobile manipulators moving on flat
surface while transporting an elastic object, [6].
Fig. 2: The ST mechanism, a planar
Fig 1: A hybrid serial-parallel mobile parallel manipulator.
robot system.
On the other hand, the dynamical analysis of parallel
manipulators is more complicated due to the existence of
multiple close-loop chains. Several approaches have been
proposed, including Newton-Euler formulation, [7],
Lagrangian formulation, [8], and the principle of virtual
work, [9].
In this paper, a new hybrid robot is suggested which
exploits the advantages of both serial and parallel
manipulators mounted on a mobile platform, Fig. 1, where
the planar parallel manipulator can move the base point of
the serial robot with respect to the mobile platform to fulfill
the system stability. The suggested ST mechanism has no
singularity in its workspace while precisely executes
positioning the base point of the serial robot. The general
structure of the robotic system is described, and the
kinematics of the system is demonstrated in Section II. Then,
in section three a combined Newton-Euler and Lagrange
1358
 formalism is developed to derive the closed form dynamics G r
(2) VG = [ (θl + θr ) 0 0]
P T
(4)of the system as well as mutual interaction wrenches.
model
Next, the verification procedure is detailed and finally, 2
several concluding remarks are presented. where ϕ1 and r represent the platform angular velocity and
II. KINEMATICS OF THE HYBRID SERIAL-PARALLEL WHEELED the radius of the robot’s wheels respectively.
ROBOTIC SYSTEM
To date, mobile manipulators which consist of one or more
manipulator arms mounted on a mobile base have been
extensively studied, [4- 7]. Although the workspace of such
systems due to the mobility of the base is very large, most of
them utilize serial manipulator(s) attached at a fixed point of
the base. However, in this research the attachment point of
the serial arm to the platform is allowed to move in the base
plane. Such a feature provides a higher dexterity for the
robot and enhances its postural stability in the emergent and
hazardous situations, [11]. A parallel manipulator (parallel
platform) has the advantages of higher stiffness, higher
payload capacity, and lower inertia to the manipulation
problem than a comparable serial manipulator, at the price of
a smaller workspace and more complex mechanism. Based
on the aforesaid advantages, a novel planar parallel Fig. 3: Differentially-driven mobile platform and its parameters.
manipulator (as depicted in Fig. 2) is selected as an interface
(4)
between the serial manipulator and the mobile base which
Notice that the left superscript denotes the frame in which
can move the attachment point of serial arm accurately. This P
G
parallel manipulator is made from a reference Triangle (T) the variable has been described; e. g. VG represents
and a moving Star (S). These two elements are connected absolute linear velocity of point ‘G’ which has been
through three limbs while each of them consists of three described in platform attached frame. If one wishes to find
joints, i.e. Prismatic-Revolute-Prismatic (PRP) joints. The the description of linear velocity of point ‘G’ in inertial
serial robot is mounted at the center of star part which is P
G
frame then VG is pre-multiplied by IRP (the rotation
called hereafter point ‘F’. In order to analyze the kinematics
of the system, the overall robotic system is divided into three matrix of platform with respect to inertial frame), which
modulus including mobile base, parallel manipulator and gives
serial arm. G rCos (ϕ1 ) rSin (ϕ1 )
(θl + θr ) (θl + θr ) 0]
I T
VG = [ (3)
2 2
A. Differentially-Driven Platform Also, the velocity of point ‘P’ can be written as
Motion of a reference point ‘P’ on the mobile platform is G G G r r
P
VP = PVG + PVP G = (θl + θr )iˆ + (ϕ1kˆ × liˆ) = (θl + θr )iˆ + ϕ1ljˆ (4)
used to describe the system translation with respect to an 2 2
inertial frame of reference, ( XYZ ), see Fig. 3. The wheeled In a similar manner, using IRP, the velocity of point ‘P’, in
platform is differentially-driven, and so the two left and right matrix form, can be written as
wheels are active and independent, both driving and steering ª r Cos (ϕ1 ) l r Sin(ϕ1 )  r Cos (ϕ1 ) l r Sin(ϕ1 )  º
the system, while the other two front and rear wheels are «( + )θl + ( − )θ r »
2 b 2 b
passive. The point ‘G’ denotes the platform’s center of « » (5)
G r Sin(ϕ1 ) l r Cos (ϕ1 )  r Sin(ϕ1 ) l r Cos (ϕ1 )  »
gravity. Herein, the goal is to calculate the velocity of points
I
VP = «( − )θl + ( + )θ r
« 2 b 2 b »
‘P’ and ‘G’ in terms of the actuating velocities of wheels, i.e. « »
« 0 »
θl , θr . To this end, the velocity of point ‘G’, described in ¬« ¼»
platform attached frame, is written in two manners in which Furthermore, the velocity of point ‘G’ can be shown in terms
G P of velocity components of point ‘P’ as below
once, V G is calculated in terms of the velocity of point ‘B’
G G G I JJG
VG = VP + VG P = X P Iˆ + YP Jˆ + (ϕ1 Kˆ × PG )
I I I
and it is then computed versus the velocity of point ‘A’. (6a)
Next, by equating these obtained relations the following or in the matrix from as
results are achieved:
r ª X P + lϕ1 Sin(ϕ1 ) º
(1) ϕ1 = (θr − θl ) G
VG = « YP − lϕ1Cos (ϕ1 ) »
I
(6b)
b « »
«¬ 0 »¼

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 Next, using IRP the velocity of point ‘G’ can be described in Since, the whole sides of triangle are equal and each of them
the platform attached frame as is 1 (m) long, then the coordinates of points D1, D2, and D3
ª X P Cos (ϕ1 ) + YP Sin (ϕ1 ) º can be calculated as
G G
VG = RI VG = « − X P Sin(ϕ1 ) + YP Cos (ϕ1 ) − lϕ1 »
T
P P I
(7) K ª− 3 1 º
« » D1 = « q1 q1 0» (9a)
¬« 0 ¼» ¬ 2 2 ¼
T
Moreover, as it is assumed the platform does not slip K ª− 3 1 º
sideways, it can be stated that the velocity of ‘G’ is along the D2 = « − q2 0» (9b)
longitudinal axis of the vehicle. This makes that the second
G ¬ 2 2 ¼
P
entry of VG equals zero, that is T
K ª− 3 3 −1 1 º
X P Sin(ϕ1 ) − YP Cos (ϕ1 ) + lϕ1 = 0 (8) D3 = « + q3 + q3 0» (9c)
The above equation is a non-integrable equation and cannot
¬ 2 2 2 2 ¼
be formed into an algebraic constraint. Note also that 2 denotes the rotation angle of ST
mechanism with respect to the platform. Hence, if q1=0 then
point D1 coincide with point ‘P’, see Fig. 4. Furthermore, in
this configuration β1 = 180° and  2=0, therefore
ϕ 2 = β1 − 180° (10)
Considering triangle D1D2D3 and Fig. 5, in triangle FD1D3
the following equation can be written based on law of sines
D3 D1 ⋅ Sin( D1′)
FD 3 = (11)
Sin(120°)
In the same manner, one can write
D2 D 3 ⋅ Sin ( D2′′)
FD 3 = (12)
Sin(120°)
Fig. 4: The ST mechanism and the associated coordinates.

If one equates Eqs. (11) and (12) then it gives

D2 D 3 ⋅ Sin ( D2′′) = D3 D1 ⋅ Sin ( D1′ ) (13)
Besides, in triangle D1D2D3 , using law of cosines gives
ªD D 2 + D D 2 −D D 2 º
−1
D1 = Cos « 1 2 1 3 2 3
» (14a)
«¬ 2 D D
1 2 ⋅ D D
1 3 »¼
The variable ‘k’ is defined as
K = D2 + D1 − 60° (15)
Also, the following relations can easily be obtained
Fig. 5: The auxiliary triangle connecting points D1, D2, and D3.
D1′ = D1 − D1′′ (16)
B. Parallel ST Mechanism D1′′ + D2′ = 60° (17)
Using Eqs. (15), (16) and (17) the following is obtained
In this subsection, the forward differential kinematics of D1′ = K − D2′′ (18)
suggested planar parallel manipulator is studied. It should be
Also, exploiting Eqs. (13), (15) along with (17) leads to
mentioned that for the first time the Doubble Triangle (DT)
mechanism was suggested by Daniali et al., [12]. The DT −1 ª D3 D1 ⋅ Sin( K ) º
mechanism is made of a fixed and moving triangle. Then, ST D2′′ = tg « » (19)
mechanism as a modified form of DT mechanism was ¬ D2 D3 + D3 D1 ⋅ Cos ( K ) ¼
suggested by Hunt et al., [13] and herein for the first time is On the other hand, the angle of D2 D3 with respect to the
adopted in the context of mobile manipulators. To ease of
positive direction of XP can be written as
discussion and formulation, the whole relations are
calculated with respect to the platform attached frame, see −1 § yD 3 − y D 2 ·
Fig. 4. The triangle has three equal sides. Each of which is ∠( D2 D3 , X P ) = α = tan ¨ x −x ¸ (20)
1m. © D3 D2 ¹

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 On the basis of Fig. (4), the following relations can be velocity and acceleration of ST mechanism (and
written equivalently frame x0 y0 z0) are obtained as
0 G
β 2 = α + D2′′ (21a) ω0 = [ 0 0 ϕ1 + ϕ2 ]
T
(26)
β 3 = β 2 + 120° 0 G
(21b)
ω 0 = [ 0 0 ϕ1 + ϕ2 ]
T
(27)
Based on Fig. (4), and relations (14), the coordinates of point
‘F’ can be written as
C. Serial Manipulator Arm
ª 3 3 º
«− + q3 + FD 3 Cos ( β 3 ) » To analyze the kinematics of the manipulator arm, first
« 2 2
» several coordinate frames are attached to the various links of
P JJ
G « 1 1 » the arm, where corresponding DH parameters can be
(22)
PF =
« − 2 + 2 q3 + FD 3 Sin( β 3 ) » obtained.
« »
« 0 » Next, via outward kinematics formulations [11], the linear
«¬ »¼ and angular velocity/acceleration of various links can be
computed. Therefore, it can be observed that by performing
If Eqs. (9) to (21) are utilized in a chain form then the the outward analysis (from star part of ST mechanism to the
coordinate of point ‘F’ relative to ‘P’ is obtained versus the end-effector of serial robot) the linear/angular velocity and
P JG
variables q1 , q2 and q3 analytically. Other than PF , the acceleration of all parts of the serial robotic arm are
calculated versus actuating velocities and accelerations, i.e.
other above mentioned variables can also be written in terms G
V = [θ , θ , q , q , q , θ , θ , θ ] and
T

of q1 , q2 and q3 in a closed-from. In order to complete the act l r 1 2 3 1 2 3

G
aact = [θl , θr , q1 , q2 , q3 , θ1 , θ1 , θ3 ] .
T
forward kinematics of the ST mechanism the linear velocity
of point ‘F’ as well as the absolute angular velocity of
parallel platform should be obtained. The absolute velocity After that, it is possible to compute the inertial
of point ‘F’ which has been described in the platform frame forces/torques exerted to the whole bodies of the serial robot
can be written as in terms of actuating velocities and accelerations as will be
G G G P JJG
P G discussed in the next section.
VF = VP + Vrel + ω P × PF
P P P
(23)
P
G III. DYNAMICS OF THE HYBRID SYSTEM
where Vrel represents the velocity of point ‘F’ with respect
P G
In this section, the dynamics of the system is derived. To this
to a rotating observer at point ‘P’. Also, ω P denotes the end, the whole system is divided into two main modules
absolute angular velocity of platform which is equal to ϕ1 K̂ . including the serial robotic arm and the integrated platform
P
G and ST mechanism. Therefore, the mutual interaction
Moreover, VP can be substituted from Eq. (4). In order to wrenches between the serial robot and the rest of the system
P
G is obtained explicitly. Moreover, these interaction dynamic
find Vrel , it is sufficient to simply differentiate the entities
wrenches can be employed for tip-over stability analysis of
of Eq. (22) with respect to time. In this manner, the linear the overall robotic system, [11]. So, the Newton-Euler
P
G
velocity of point ‘F’, i.e. VF , is obtained versus five formulation is adapted for the serial robot module. Note that
for this system the generalized coordinates used for the
actuating velocities, i.e. [θl , θr , q1 , q 2 , q3 ] . Next, the
T
system description are as follows
absolute linear velocity of point ‘F’ is projected into the q = [ X P , YP , ϕ1 , q1 , q2 , q3 , θ1 , θ 2 , θ 3 ]
T

inertial frame as follows

G G
VF = RP VF
I I P
(24) A. Serial Manipulator Arm Dynamics
It is emphasized that due to lots of computations needed in
the above mentioned procedures, the software Maple 6, is After the kinematical computations performed in the
adopted to accomplish the required nested form calculations. previous section, it is possible to calculate the inertial
Now, the calculation of the angular velocity and acceleration forces/torques exerted to the whole bodies of the serial robot.
of ST mechanism is detailed. Remembering Eq. Next, by using the obtained inertial forces/torques and
inward Newton-Euler’s iterations, [11], the interaction
(10), ϕ 2 = β1 − 180° , and noting that β1 = β 2 + 240° , the wrenches generated at the whole joints of the serial robot are
following result is obtained computed as follows
G i +1 i +1 G G
ϕ 2 = β 2 + 60° (25) i
fi = Ri fi +1 + Fi
i
(28a)
G G G G G G G
where β 2 is obtained from Eq. (21a). Hence, it is possible to i i i +1 i +1 i i i i +1 i +1
ni = N i + Ri ni +1 + Pci × Fi + Pi +1 × Ri fi +1 (28b)
compute this angle versus the variables q1 , q2 and q3
analytically via nested formulas 9-22. Therefore, the angular

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 G iG
Mq1 + C = Q + λ A
i T
where, fi and ni represent the force and torque exerted on (37)
the link ‘i’ from link ‘(i-1)’ which have been described in i- where M is a 6×6 mass/inertia matrix, C is 6×1 vector of
th link attached frame. It is pointed out that the above nonlinear velocity dependent terms.
required calculations are performed via Maple 6. Finally, the On the other hand, the generalized speeds can be written in
required torque for the desired motion of each joint is terms of the actuating velocities as
obtained as
G q1 = S .ν (38)
τ i = i niT . i Zˆi (28c) where
Moreover, the force/torque exerted by the robotic arm to the ªr lr r lr º
« 2 Cos (ϕ1 ) + b Sin(ϕ1 ) 2
Cos (ϕ1 ) − Sin(ϕ1 )
b
01×3 »
ST mechanism is obtained as « » (39)
G G « r Sin(ϕ ) − l r Cos (ϕ ) r lr
0
F = − R1 f1
1
(29a) Sin(ϕ1 ) + Cos (ϕ1 ) 01×3 »
S = «2 1
b
1
2 b »
G 0 1G « »
N = − R1 n1 (29b) « −
r r
01×3 »
« b b »
« 03×1 03×1 13×3 »¼ 6×5
¬
B. Integrated Platform and ST Parallel Manipulator
ν = [θl , θr , q1 , q2 , q3 ]
T
Dynamics (40)
To derive the dynamics of this part of the system the Substituting Eq. (38) into (35) leads to the following result
Lagrangian approach is used. As the whole integrated AS = O1×5 (41)
subsystem moves parallel to the horizontal plane and during Now, using the Natural Orthogonal Complement method, [1]
the motion its center of mass height does not change, hence T
the potential energy taken equal to zero. The platform’s and pre-multiplying Eq. (37) by S and using (41) gives
kinetic energy can be written as S T Mq + S T C = S T Q
1 (42)
1 G G 1 In the above equation, the LHS (Left Hand Side) is
TP = mPVG ⋅ VG + I Gϕ1
2
(30)
2 2 completely known. Yet, the RHS has not been determined.
Moreover, Eq. (42) represents five equations. While the
where mP and I G are the mass and mass moment of inertia number of generalized variables of the integrated subsystem
of platform about the point ‘G’ respectively. Also, the ST’s is 6. Consequently, the nonholonomic constraint is
kinetic energy can be written as differentiated with respect to time as
1 G G 1 Sin(ϕ ) XP − Cos(ϕ )Y + l ϕ + ϕ X Cos(ϕ ) + ϕ Y Sin(ϕ ) = 0 (43)
TS = mS VF ⋅ VF + I S (ϕ1 + ϕ2 )
2
(31) 1 1 P 1 1 P 1 1 P 1
2 2 The RHS of Eq. (42) can be determined by noting the fact
that the infinitesimal work of generalized forces should be
where mS and I S are the mass and mass moment of inertia
equal to that of the external forces/torques acted on the
of Star about the point ‘F’ respectively. Consequently, the integrated subsystem.
kinetic energy of the integrated subsystem is Finally, by augmenting the serial robot Eqs. 28, the final
T=Tp + Ts (32) equations of the robot is obtained as
Notice that the generalized coordinates needed to describe  + C (q , q ) = 
M 9×9 (q ) q (44)
9×1 9×1
the pose of the integrated subsystem is as follows
where
q1 = [ X P , YP , ϕ1 , q1 , q2 , q3 ]
T
(33)
 = [τ l τ r F3 | τ 1 τ 2 τ 3 ]
T
0 | F1 F2 (45)
The Lagrange equations of motion for the integrated parts
can be written as IV. VERIFICATION OF THE OBTAINED DYNAMICS MODEL
d § ∂T · ∂T m

¨  ¸− = QK + ¦ λl alK ( K = 1,! , 6) (34) In order to investigate validation of the obtained model

dt © ∂rK ¹ ∂rK l =1 several rational inputs are applied, and the obtained output
where rk is the k-th generalized coordinate and QK is the results are analysed. It will be seen that the obtained outputs
are logical and expected and hence the soundness of
corresponding generalized force. Also, λl ’s are Lagrange modeling approach is guaranteed.
multipliers and ‘m’ is the number of system constraints.
Herein, m=1 due to the existence of nonholonomic A. First Manoeuvre
constraint. The nonholonomic constraint, i.e. Eq. (8), can be In this Manoeuvre, two different values of actuating torques
written in the matrix form as for the platform are considered as cases one and two. The
A. q1 = 0 (35) initial values for the robot pose in both cases are depicted in
where Table I. In addition, the whole initial velocities are set to be
zero. Besides, the whole actuating torques for both cases are
A = [ Sin (ϕ1 ) −Cos (ϕ1 ) l 0 0 0] (36) set to be zero excluding the ones for the wheels of the
Substitution of (32) into (34) gives platform. For the first case τ l = τ r = 2000 ( N .m ) while the

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 corresponding ones for the second case parallel platform. A combined Newton-Euler and
are τ l = τ r = 4000 ( N .m ) . Lagrangian formalism was developed to derive the system
dynamics model. Besides, the presented technique provides
Tables I: Initial values for the two cases.
the mutual interaction wrenches between the serial arm and
the integrated platform which can be utilized for postural
XP YP ϕ1 q1 q2 q3 θ1 θ2 θ3 stability evaluation of the system. Finally, the obtained
model was verified, using some benchmark inputs, where the
0.5 0.5 0.5 obtained outputs of the system were analysed.
3 (m) 0 0 0 900 0
2 (m) (m) (m)
560 560

The responses of the system for both cases are presented in 550 550
Figs. 6 and 7. Since, the actuating torques for both wheels
540 540
are the same in both the sense and value, it is expected that Second case Second case

q1(mm)

q2(mm)
530 530
X P is increasing, whereas YP remains constant.
520 520
Additionally, in the second case, XP increases more as the
actuating torque is greater as well. 510
First case
510
First case

1300 - 12 500 500

x 10 0 0.02 0.04 0.06 0.08 0.1 0 0.02 0.04 0.06 0.08 0.1
0 Time(sec) Time(sec)

1200 (a) (b)

Seccond case -2
1100
Fig. 8: The response of the ST mechanism in the second manoeuvre.
XP(mm)

YP(mm)

-4
1000
REFERENCES
-6
900 [1] S. K. Saha, and J. Angeles, “Dynamics of Nonholonomic Mechanical
First case

Systems Using a Natural Orthogonal Complement,” ASME Journal of

800
0 0.02 0.04 0.06 0.08 0.1
Time(sec)
Fig. 6: The comparative diagram
of XP versus time for two cases.
B. Second Manoeuvre
In this section, the correctness of the obtained dynamics for
the ST platform is examined. To this end, again the robotic
system is considered with the initial pose mentioned in Table
I. Also, in this manoeuvre two similar cases are analysed. In
these cases, the whole actuating torques are set to be zero
except for those of ST mechanism, i.e. F1 , F2 and F3 . In
the first case F1 = F2 = F3 = 200 ( N ) while in the second
case F1 = F2 = F3 = 400 ( N ) . The variations of q1 , and q2
are shown in Fig. 8. As it is seen due to the positive forces
all qi ' s have been increased. Also, since the amount of
actuating forces in the second case is greater, hence the
corresponding amount of qi ' s is greater.
V. CONCLUSIONS
A novel serial-parallel wheeled mobile robot was proposed
to fulfill stable motion for handling heavy objects. A planar
parallel manipulator was used as an interface between the
serial manipulator and the mobile base which can move the
attachment point of serial arm with respect to the mobile
base. To develop kinematics and dynamics model of the
system, first the whole system was divided into three parts
and the kinematics of the overall system was analysed in a
modular manner. Next, in order to derive the dynamics of
the system, the robot was divided into two parts, i.e. the
serial arm and the integrated platform together with the ST
-8
0 0.02 0.04 0.06 0.08 0. Applied Mechanics, vol. 58, pp. 238-244, March 1991.
Time(sec)
[2] E. Papadopoulos and S. Dubowsky, “On the Nature of Control
Fig. 7: The trajectory of YP versus Algorithms for Free-Floating Space Manipulators,” IEEE Transactions
time. on Robotics and Automation, vol. 7, no. 6, pp. 750–758, 1991.
[3] S. Ali A. Moosavian and E. Papadopoulos, “Explicit Dynamics of
Space Free-Flyers with Multiple Manipulators via SPACEMAPL,”
Journal of Advanced Robotics, vol. 18, no. 2, pp. 223-244, 2004.
[4] E. Papadopoulos and J. Poulakakis, “Planning and Model-based
Control for Mobile Manipulators,” Proc. of the IEEE/RSJ International
Conference on Intelligent Robots and Systems (IROS 2000), pp. 1810-
1815, Oct. 2000.
[5] S. Ali. A. Moosavian, and M. Eslamy, “Object Manipulation by
Multiple Arms of A Wheeled Mobile Robotic System,” Proc. of the
IEEE International Conference on Robotics, Automation &
Mechatronics (RAM 2008), China, June 2008.
[6] Q. Yu and I-M. Chen, “A General Approach to the Dynamics of
Nonholonomic Mobile Manipulator Systems,” ASME Journal of
Dynamic Systems, Measurement and Control, vol. 124, pp. 512-52,
December 2002.
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