TY  - JOUR
T1  - Dynamics of a Mobile Manipulator of 8 Degrees of Freedom for Inspection Tasks
AU - Valencia, C. Angie J. AU - Aviles, Oscar F. AU - Mauledoux, Mauricio F. 
JO  - Journal of Engineering and Applied Sciences
VL  - 12
IS  - 23
SP  - 7180
EP  - 7188
PY  - 2017
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2017.7180.7188
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2017.7180.7188
KW  - Direct dynamic
KW  -inverse dynamic
KW  -wheels dynamic
KW  -generalize coordinates
KW  -degrees of freedom
KW  -manipulator robot
KW  -mobile robot
AB  - Dynamics is an enormous field dedicated to the study of the forces required to cause movement. To
accelerate a manipulator from an inert position, slide it with a constant speed of the end effector and finally
decelerate it to a complete stop, whereby the joint actuators must apply a complex set of rotational moments
functions. The exact form of the required functions of moment of rotation of an actuator depends on the
kinematic and dynamic parameters of each one. A method for controlling a manipulator to follow a desired path
involves calculating these functions using the dynamic equations of the manipulator’s motion. On the other
hand, for mobile robots, the dynamics allows determining the necessary torque required to reach the speeds
in each wheel. In addition, it creates additional restrictions to the workspace and trajectories due to the
consideration of masses and forces acting on the robotic platform. For the above, the present research
describes the dynamic model for a hybrid platform composed of a manipulator arm of 5 degrees of freedom and
a mobile platform of six wheels with traction in each of them.
ER  -