Authors : C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux
Abstract: 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.
C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux, 2017. Dynamics of a Mobile Manipulator of 8 Degrees of Freedom for Inspection Tasks. Journal of Engineering and Applied Sciences, 12: 7180-7188.