UM  > Faculty of Science and Technology  > DEPARTMENT OF ELECTROMECHANICAL ENGINEERING
Novel design and modeling of a mobile parallel manipulator
Li Y.; Xu Q.; Liu Y.
2006-12-27
Conference NameIEEE International Conference on Robotics and Automation (ICRA)
Source PublicationProceedings - IEEE International Conference on Robotics and Automation
Volume2006
Pages1135-1140
Conference DateMAY 15-19, 2006
Conference PlaceOrlando, FL
Abstract

A novel design of a mobile parallel manipulator (MPM), which is composed by a multi-degree of freedom (DOF) parallel robot and an autonomous wheeled mobile platform, is proposed in this paper to overcome the shortcomings of the parallel robot and perform high accuracy tasks. Both the position and differential kinematics problems for the hybrid system are solved in details, and the dynamic model for the MPM is derived via Lagrangian formulation approach with simplifying hypotheses. Furthermore, taking the MPM self motion into consideration due to its redundancy, the dynamic control in task space is implemented by employing a model-based controller. Simulation results illustrate that not only the control algorithms are effective well, but also the established dynamic models are accurate enough as well. © 2006 IEEE.

KeywordDynamics Kinematics Mobile Robots Modeling Parallel Robots
DOI10.1109/ROBOT.2006.1641862
URLView the original
Indexed BySCIE
Language英語English
WOS Research AreaAutomation & Control Systems ; Computer Science ; Engineering ; Robotics
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Engineering, Mechanical ; Robotics
WOS IDWOS:000240886902039
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Cited Times [WOS]:6   [WOS Record]     [Related Records in WOS]
Document TypeConference paper
CollectionDEPARTMENT OF ELECTROMECHANICAL ENGINEERING
AffiliationUniversidade de Macau
First Author AffilicationUniversity of Macau
Recommended Citation
GB/T 7714
Li Y.,Xu Q.,Liu Y.. Novel design and modeling of a mobile parallel manipulator[C],2006:1135-1140.
APA Li Y.,Xu Q.,&Liu Y..(2006).Novel design and modeling of a mobile parallel manipulator.Proceedings - IEEE International Conference on Robotics and Automation,2006,1135-1140.
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