Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute-prismatic joints using recursive Gibbs-Appell formulation

DOI10.1016/J.APM.2014.09.030MaRDI QIDQ2337645zbMATH OpenOpenAlexFDO

Authors M. H. Korayem, A. M. Shafei

Publication date 20 November 2019

Published in Applied Mathematical Modelling (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/j.apm.2014.09.030

zbMATH Keywords

Gibbs-Appellmobile manipulatornonholonomicrecursiverevolute-prismatic

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60)

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Cites work

• A recursive, numerically stable, and efficient simulation algorithm for serial robots
• Adaptive stabilization of mobile manipulators
• Coordinating locomotion and manipulation of a mobile manipulator
• Improved `order-n' performance algorithm for the simulation of constrained multi-rigid-body dynamic systems
• Investigating dynamic interaction between the one D.O.F. manipulator and vehicle of a mobile manipulator
• Multibody dynamics in computational mechanics and engineering applications
• Performance-oriented parallel distributed compensation
• Serial-robot dynamics algorithms for moderately large numbers of joints
• The Formulation of Dynamical Equations of Holonomic Mechanical Systems Using a Natural Orthogonal Complement

Cited in

(15)

• Modeling and computation of real-time applied torques and non-holonomic constraint forces/moment, and optimal design of wheels for an autonomous security robot tracking a moving target
• Dynamic analysis of multiple inclined and frictional impact-contacts in multi-branch robotic systems
• Motion equations of cooperative multi flexible mobile manipulator via recursive Gibbs-Appell formulation
• Dynamic modeling of tree-type robotic systems by combining $3\times 3$ rotation and $4\times 4$ transformation matrices
• A new approach for dynamic modeling of n-viscoelastic-link robotic manipulators mounted on a mobile base
• The kinematics and kinetics of multi-closed-chain mechanisms in the impact and non-impact stages
• A new method for finding the proper initial conditions in passive locomotion of bipedal robotic systems
• Frictional impact-contacts in multiple flexible links
• Energy of acceleration of a perfect unbounded fluid surrounding an arbitrary moving rigid body
• Kinematic analysis of flexible bipedal robotic systems
• Dynamic modeling and closed-loop control design for humanoid robotic systems: Gibbs-Appell formulation and SDRE approach
• Efficient Hamel's integrator for vehicle-manipulator systems
• An innovative joint-space dynamic theory for mobile multi-axis system with unilateral constraint
• An innovative joint-space multi-axis dynamics modeling theory for planetary rover
• A clear dynamic formulation of a high-DOF mobile manipulator using a direct formulation including coupling effects and nonholonomic constraints

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