Authors : C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux
Abstract: 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.
C. Angie J. Valencia, Oscar F. Aviles and Mauricio F. Mauledoux, 2017. Kinematic of a Mobile Manipulator of 8 Degrees of Freedom for Inspection Tasks. Journal of Engineering and Applied Sciences, 12: 7612-7618.