TY  - JOUR
T1  - Kinematic of a Mobile Manipulator of 8 Degrees of Freedom for Inspection Tasks
AU - J. Valencia, C. Angie AU - Aviles, Oscar F. AU - Mauledoux, Mauricio F. 
JO  - Journal of Engineering and Applied Sciences
VL  - 12
IS  - 24
SP  - 7612
EP  - 7618
PY  - 2017
DA  - 2001/08/19
SN  - 1816-949x
DO  - jeasci.2017.7612.7618
UR  - https://makhillpublications.co/view-article.php?doi=jeasci.2017.7612.7618
KW  - Degrees of freedom
KW  -direct kinematic
KW  -generalized coordinates
KW  -inverse kinematic
KW  -manipulator robot
KW  -mobile robot
KW  -Newton-Raphson
AB  - A mobile manipulator is made up of an arm, a wrist and a tool of clasp, designed to move inside a
workspace that increases with the Degrees of Freedom (DOF) of the system, defined as the number of
longitudinal or rotational displacements in the mechanism. These arms are implemented in inspection tasks in
which they are provisions on mobile platforms that determine their movement from the contribution that each
wheel provide for the locomotion in function of the system restrictions (limitation to roll laterally or rotate on
its own axis). To understand the operation of these mechanisms, the first thing to do is to describe the kinematic
model of the platform considering the calculation of the direct kinematic of five DOF manipulator as well as the
calculation of the inverse kinematic to obtain the ideal trajectory for the movement from one point to another
through Newton-Raphson algorithms implementation. Besides, stipulating the expressions of global movement
of the vehicle in terms of the individual geometry of the wheels that make up the mechanism, modeled as a rigid
body with wheels that is handled on the horizontal plane in three different axes, two of position in the plane and
one of the orientation along the vertical axis.
ER  -