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首页> 外文期刊>Applied Mathematical Modelling >Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute-prismatic joints using recursive Gibbs-Appell formulation
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Motion equation of nonholonomic wheeled mobile robotic manipulator with revolute-prismatic joints using recursive Gibbs-Appell formulation

机译：带有旋转-棱柱关节的非完整轮式移动机器人操纵器的运动方程，采用递归Gibbs-Appell公式表示

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摘要

The main intent of this paper is to represent a symbolic algorithm, capable of deriving the equations of motion of N-rigid link manipulators with revolute-prismatic (R-P) joints, which mounted on a mobile platform. The presence of prismatic joints besides the revolute ones, as well as the nonholonomic characteristics of the mobile platform makes the derivation of governing equations difficult. So, to derive the kinematic and dynamic equations of motion of such a complex system, and also to avoid computing the Lagrange multipliers associated with the nonholonomic constraints, the application of recursive Gibbs-Appell (G-A) formulation is applied. For modeling the system completely and precisely, the dynamic interactions between the manipulator and the mobile platform, the coupling effects due to the simultaneous rotating and sliding motion of the rigid arms, as well as both nonholonomic constraints associated with the no-slipping and the no-skidding conditions are included. Moreover, to improve the computational efficiency of the proposed systematic algorithm, all mathematical operations are done by only 3 × 3 and 3 × 1 matrices. Finally, a numerical simulation for a mobile manipulator with three R-P joints is performed, by using a developed computer program, to show the ability of this algorithm in deriving and solving the equations of motion of such systems.
机译：本文的主要目的是代表一种符号算法，该算法能够推导安装在移动平台上的具有旋转棱柱（R-P）接头的N刚性链接机械手的运动方程。除了旋转关节外，还存在棱柱形关节，以及移动平台的非完整特性，使得推导控制方程变得困难。因此，为了推导这种复杂系统的运动运动学方程和动态方程，并且还避免计算与非完整约束相关的拉格朗日乘数，应用了递归吉布斯-阿佩尔（G-A）公式。为了对系统进行完整而精确的建模，机械手和移动平台之间的动态相互作用，刚性臂同时旋转和滑动所产生的耦合效应，以及与不打滑和不打滑相关的非完整约束-包括打滑条件。此外，为了提高所提出的系统算法的计算效率，所有数学运算仅由3×3和3×1矩阵完成。最后，通过使用开发的计算机程序，对具有三个R-P关节的移动机械手进行了数值模拟，以显示该算法在推导和求解此类系统的运动方程式方面的能力。

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  • 来源
    《Applied Mathematical Modelling》 |2015年第6期|1701-1716|共16页
  • 作者

    M.H. Korayem; A.M. Shafei;

  • 作者单位

    Mechanical Engineering Department, Robotic Research Laboratory, School of Mechanical Engineering, Center of Excellence in Experimental Solid Mechanics and Dynamics, Iran University of Science and Technology, P.O. Box 13114-16846, Tehran, Iran;

    Mechanical Engineering Department, Robotic Research Laboratory, School of Mechanical Engineering, Center of Excellence in Experimental Solid Mechanics and Dynamics, Iran University of Science and Technology, P.O. Box 13114-16846, Tehran, Iran;

  • 收录信息 美国《科学引文索引》(SCI);美国《工程索引》(EI);
  • 原文格式 PDF
  • 正文语种 eng
  • 中图分类
  • 关键词

    Mobile manipulator; Revolute-prismatic; Nonholonomic; Recursive; Gibbs-Appell;

    机译：移动机械手;棱柱形旋转;非完整递归吉布斯·阿佩尔;

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